LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
Tixiao Shan Brendan Englot Carlo Ratti Daniela Rus Tixiao Shan Brendan Englot Carlo Ratti Daniela Rus
We propose a framework for tightly-coupled lidar-visual-inertial odometry via smoothing and mapping, LVI-SAM, that achieves real-time state estimation and map-building with high accuracy and robustness. LVI-SAM is built atop a factor graph and is composed of two sub-systems: a visual-inertial system (VIS) and a lidar-inertial system (LIS). The two sub-systems are designed in a tightly-coupled mann...