Qinyu Liu

Intensity-Augmented LiDAR-Visual-Inertial Odometry and Meshing

This paper presents a tightly-coupled LiDAR-Visual-Inertial Odometry (LIVO) system that integrates both LIO and VIO subsystems. The system jointly estimates the state by fusing LiDAR or visual data with Inertial Measurement Units (IMUs). It employs point-to-mesh tracking to optimize LiDAR poses and