MMF-LVINS

Multi-Modal Features and Accurate Place Recognition with Robust Optimization for Lidar-Visual-Inertial SLAM

Acknowledgements

This work is based on LVI-SAM, VINS-MOMO, LILI-OM and Scancontext. Thanks for their great work!

Citation

@ARTICLE{10445759,
  author={Zhao, Xiongwei and Wen, Congcong and Manoj Prakhya, Sai and Yin, Hongpei and Zhou, Rundong and Sun, Yijiao and Xu, Jie and Bai, Haojie and Wang, Yang},
  journal={IEEE Transactions on Instrumentation and Measurement}, 
  title={Multimodal Features and Accurate Place Recognition With Robust Optimization for Lidar–Visual–Inertial SLAM}, 
  year={2024},
  volume={73},
  number={},
  pages={1-16},
  keywords={Laser radar;Simultaneous localization and mapping;Visualization;Feature extraction;Optimization;Robot sensing systems;Three-dimensional displays;3-D lidar loop closure descriptor;lidar–visual–inertial simultaneous localization and mapping (SLAM) (LVINS);robust iterative optimization;state estimation;two-stage loop detection},
  doi={10.1109/TIM.2024.3370762}}

License

The code is provided under the Apache-2.0 license