FAST-LIO2: Fast Direct LiDAR-inertial Odometry

14 July 2021

Wei Xu

Yixi Cai

Dongjiao He

Jiarong Lin

Fu Zhang

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Papers citing "FAST-LIO2: Fast Direct LiDAR-inertial Odometry"

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Title
Efficient and Robust Point Cloud Registration via Heuristics-guided Parameter Search Tianyu Huang Haoang Li Liangzu Peng Yinlong Liu Yunhui Liu 44 3 0 09 Apr 2024
Localization and Offline Mapping of High-Voltage Substations in Rough Terrain Using a Ground Vehicle Ioannis Alamanos G. Moustris C. Tzafestas 20 0 0 28 Mar 2024
NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning Ruihua Han Shuai Wang Shuaijun Wang Zeqing Zhang Jianjun Chen ... Chengyang Li Chengzhong Xu Yonina C. Eldar Qi Hao Jia Pan 3DPC 40 2 0 11 Mar 2024
Fast Iterative Region Inflation for Computing Large 2-D/3-D Convex Regions of Obstacle-Free Space Qianhao Wang Zhepei Wang Mingyang Wang Jialin Ji Zhichao Han Tianyue Wu Rui Jin Yuman Gao Chao Xu Fei Gao 53 12 0 05 Mar 2024
DMSA -- Dense Multi Scan Adjustment for LiDAR Inertial Odometry and Global Optimization D. Skuddis Norbert Haala 37 0 0 29 Feb 2024
NeuV-SLAM: Fast Neural Multiresolution Voxel Optimization for RGBD Dense SLAM Wenzhi Guo Bing Wang Lijun Chen 35 3 0 03 Feb 2024
CMRNext: Camera to LiDAR Matching in the Wild for Localization and Extrinsic Calibration Daniele Cattaneo Abhinav Valada 32 6 0 31 Jan 2024
PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency Yue Pan Xingguang Zhong Louis Wiesmann Thorbjörn Posewsky Jens Behley C. Stachniss 3DPC 3DV 39 33 0 17 Jan 2024
HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatiotemporal Variations Minwoo Jung Wooseong Yang Dongjae Lee Hyeonjae Gil Giseop Kim Ayoung Kim 26 24 0 26 Sep 2023
Four years of multi-modal odometry and mapping on the rail vehicles Yusheng Wang Weiwei Song Yi Zhang Fei Huang Zhiyong Tu Ruoying Li Shimin Zhang Y. Lou 19 3 0 22 Aug 2023
Air Bumper: A Collision Detection and Reaction Framework for Autonomous MAV Navigation Ruoyu Wang Zixuan Guo Yizhou Chen Xinyi Wang Ben M. Chen 36 2 0 12 Jul 2023
Towards Large-Scale Incremental Dense Mapping using Robot-centric Implicit Neural Representation Jianheng Liu Haoyao Chen 33 0 0 18 Jun 2023
Path Generation for Wheeled Robots Autonomous Navigation on Vegetated Terrain Zhu Jian Ze-Hui Liu Haoyu Shao Xueqian Wang Xinlei Chen Bin Liang 32 17 0 15 Jun 2023
Hybrid Trajectory Optimization for Autonomous Terrain Traversal of Articulated Tracked Robots Zhen Xu Yanbo Chen Zhu Jian Junbo Tan Xueqian Wang Bin Liang 11 6 0 05 Jun 2023
Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation M. Jung Sangwoo Jung Ayoung Kim 33 16 0 26 May 2023
HybridFusion: LiDAR and Vision Cross-Source Point Cloud Fusion Yu Wang Shuhui Bu Lin Chen Yifei Dong Kun Li Xuefeng Cao Ke Li 3DPC 27 11 0 10 Apr 2023
Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments using Occlusion-Free Spheres Benxu Tang Yunfan Ren Fangcheng Zhu Ruijie He Siqi Liang Fanze Kong Fu Zhang 29 8 0 03 Apr 2023
Range-Aided LiDAR-Inertial Multi-Vehicle Mapping in Degenerate Environment Zhenlu Jin Chaoyang Jiang 26 3 0 15 Mar 2023
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity David J. Yoon Keenan Burnett Johann Laconte Yi Chen Heethesh Vhavle S. Kammel J. Reuther Timothy D. Barfoot 21 9 0 11 Mar 2023
Deep Learning for Inertial Positioning: A Survey Changhao Chen Xianfei Pan 24 47 0 07 Mar 2023
ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning Yunfan Ren Yixi Cai Fangcheng Zhu Siqi Liang Fu Zhang 25 14 0 28 Feb 2023
LIO-PPF: Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking Xingyu Chen Peixi Wu Ge Li Thomas H. Li 22 4 0 28 Feb 2023
Design of an Adaptive Lightweight LiDAR to Decouple Robot-Camera Geometry Yuyang Chen Dingkang Wang Lenworth Thomas Karthik Dantu S. Koppal 29 2 0 28 Feb 2023
FR-LIO: Fast and Robust Lidar-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels Xiaoyu Zhao Yunzhou Zhang Yuezhang Lv Shiwen Liang 30 8 0 08 Feb 2023
EMV-LIO: An Efficient Multiple Vision aided LiDAR-Inertial Odometry Bingqi Shen Yuyin Chen Fuzhang Han Shuwei Dai R. Xiong Yue Wang 18 1 0 01 Feb 2023
ImMesh: An Immediate LiDAR Localization and Meshing Framework Jiarong Lin Chongjiang Yuan Yixi Cai Haotian Li Yunfan Ren Yuying Zou Xiaoping Hong Fu Zhang 22 26 0 12 Jan 2023
Observability-aware online multi-lidar extrinsic calibration Sandipan Das Ludvig af Klinteberg Maurice F. Fallon S. Chatterjee 13 13 0 19 Dec 2022
maplab 2.0 -- A Modular and Multi-Modal Mapping Framework Andrei Cramariuc Lukas Bernreiter Florian Tschopp M. Fehr Victor Reijgwart Juan I. Nieto Roland Siegwart Cesar Cadena 29 49 0 01 Dec 2022
MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs Fanze Kong Xiyuan Liu Benxu Tang Jiarong Lin Yunfan Ren Yixi Cai Fangcheng Zhu Nan Chen Fu Zhang 17 26 0 19 Nov 2022
SLICT: Multi-input Multi-scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping Thien-Minh Nguyen Daniel Duberg Patric Jensfelt Shenghai Yuan Lihua Xie 21 43 0 07 Nov 2022
RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map Xuecheng Xu Shan Lu Jun Wu Haojian Lu Qiuguo Zhu Yiyi Liao R. Xiong Yue Wang 38 42 0 12 Oct 2022
M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance Sandipan Das N. Mahabadi Maurice F. Fallon S. Chatterjee 46 5 0 03 Oct 2022
A Benchmark for Multi-Modal Lidar SLAM with Ground Truth in GNSS-Denied Environments Sier Ha Qingqing Li Xianjia Yu Jorge Peña Queralta Zhuo Zou Tomi Westerlund 24 22 0 03 Oct 2022
FAST-LIO, Then Bayesian ICP, Then GTSFM Jerred Chen Xiangcheng Hu Shicong Ma Jianhao Jiao Mingming Liu F. Dellaert 22 2 0 01 Oct 2022
STD: Stable Triangle Descriptor for 3D place recognition Chongjian Yuan Jiarong Lin Zuhao Zou Xiaoping Hong Fu Zhang 17 64 0 26 Sep 2022
Uncertainty-Aware Tightly-Coupled GPS Fused LIO-SLAM Sabir Hossain Xianke Lin 30 0 0 20 Sep 2022
Online Whole-body Motion Planning for Quadrotor using Multi-resolution Search Yunfan Ren Siqi Liang Fangcheng Zhu Guozheng Lu Fu Zhang 42 18 0 14 Sep 2022
FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms Jianhao Jiao Hexiang Wei Tianshuai Hu Xiangcheng Hu Yilong Zhu ... Xupeng Xie Huaiyang Huang R. Geng Lujia Wang Ming Liu 23 37 0 25 Aug 2022
Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping Lintong Zhang M. Helmberger L. Fu David Wisth Marco Camurri Davide Scaramuzza Maurice F. Fallon 46 47 0 21 Aug 2022
High-Definition Map Generation Technologies For Autonomous Driving Zhibin Bao Sabir Hossain H. Lang Xianke Lin 27 32 0 11 Jun 2022
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM Milad Ramezani Kasra Khosoussi Gavin Catt Peyman Moghadam Jason L. Williams Paulo Borges Fred Pauling N. Kottege 39 50 0 25 May 2022
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping Andrzej Reinke M. Palieri B. Morrell Yun Chang K. Ebadi Luca Carlone Ali-akbar Agha-mohammadi 51 69 0 24 May 2022
Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction Kenny Chen R. Nemiroff B. Lopez 19 82 0 07 Mar 2022
Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors Yunfan Ren Fangcheng Zhu Wenyi Liu Zhepei Wang Yi Lin Fei Gao Fu Zhang 25 51 0 24 Feb 2022
Simultaneous Location of Rail Vehicles and Mapping of Environment with Multiple LiDARs Yusheng Wang Weiwei Song Y. Lou Fei Huang Zhiyong Tu Shimin Zhang 22 4 0 25 Dec 2021
RailLoMer: Rail Vehicle Localization and Mapping with LiDAR-IMU-Odometer-GNSS Data Fusion Yusheng Wang Y. Lou Yi Zhang Weiwei Song Fei Huang Zhiyong Tu S. Zhang 24 3 0 30 Nov 2021
LLOL: Low-Latency Odometry for Spinning Lidars Chao Qu Shreyas S. Shivakumar Wenxin Liu Camillo J Taylor 52 13 0 04 Oct 2021
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds Kenny Chen B. Lopez Ali-akbar Agha-mohammadi Ankur M. Mehta 58 131 0 01 Oct 2021
The Hilti SLAM Challenge Dataset M. Helmberger K. Morin B. Berner Nitish Kumar Giovanni Cioffi Davide Scaramuzza 14 76 0 23 Sep 2021
R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package Jiarong Lin Fu Zhang 22 249 0 10 Sep 2021