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 Distributed Large-Scale Point Cloud Bundle Adjustment via Majorization-Minimization Rundong Li Zheng Liu Hairuo Wei Yixi Cai Haoyang Li Fu Zhang 89 0 0 26 Feb 2025
Robust 4D Radar-aided Inertial Navigation for Aerial Vehicles Jinwen Zhu Jun Hu Xudong Zhao Xiaoming Lang Yinian Mao Guoquan Huang 127 0 0 24 Feb 2025
SLABIM: A SLAM-BIM Coupled Dataset in HKUST Main Building Haoming Huang Zhijian Qiao Zehuan Yu Chuhao Liu Shaojie Shen Fumin Zhang Huan Yin 105 0 0 24 Feb 2025
CAR-LOAM: Color-Assisted Robust LiDAR Odometry and Mapping Yufei Lu Yongqian Li Zhizhou Jia Qun Hao Shaohui Zhang 91 0 0 24 Feb 2025
EnvoDat: A Large-Scale Multisensory Dataset for Robotic Spatial Awareness and Semantic Reasoning in Heterogeneous Environments Linus Nwankwo Bjoern Ellensohn Vedant Dave Peter Hofer Jan Forstner Marlene Villneuve Robert Galler Elmar Rueckert 242 4 0 20 Feb 2025
HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions Jianping Li Qiutong Leng Jinxing Liu Xinhang Xu Tongxin Jin Muqing Cao T. Nguyen Shenghai Yuan Kun Cao Lihua Xie 147 4 0 17 Feb 2025
CTE-MLO: Continuous-time and Efficient Multi-LiDAR Odometry with Localizability-aware Point Cloud Sampling Hongming Shen Zhenyu Wu Yulin Hui Qiyang Lyu Huiqin Zhou Tianchen Deng Yeqing Zhu Bailing Tian Danwei W. Wang 108 5 0 17 Feb 2025
Event-aided Semantic Scene Completion Shangwei Guo Hao-miao Shi Song Wang X. Yin Kailun Yang Kaiwei Wang 142 0 0 04 Feb 2025
EKF-Based Radar-Inertial Odometry with Online Temporal Calibration Changseung Kim Geunsik Bae Woojae Shin Sen Wang Hyondong Oh 74 0 0 02 Feb 2025
FlexCloud: Direct, Modular Georeferencing and Drift-Correction of Point Cloud Maps Maximilian Leitenstern Marko Alten Christian Bolea-Schaser Dominik Kulmer Marcel Weinmann Markus Lienkamp 3DPC 46 1 0 01 Feb 2025
Performance Assessment of Lidar Odometry Frameworks: A Case Study at the Australian Botanic Garden Mount Annan Mohamed Mourad Ouazghire J. S. Berrio Mao Shan Stewart Worrall 136 0 0 28 Jan 2025
Towards autonomous photogrammetric forest inventory using a lightweight under-canopy robotic drone V. Karjalainen Niko Koivumaki T. Hakala Jesse Muhojoki Eric Hyyppä Anand George J. Suomalainen E. Honkavaara 71 1 0 21 Jan 2025
KN-LIO: Geometric Kinematics and Neural Field Coupled LiDAR-Inertial Odometry Zhong Wang Lele Ren Yue Wen Hesheng Wang AI4CE 85 0 0 08 Jan 2025
Targetless Intrinsics and Extrinsic Calibration of Multiple LiDARs and Cameras with IMU using Continuous-Time Estimation Yuezhang Lv Yunzhou Zhang Chao Lu Jiajun Zhu Song Wu 69 0 0 06 Jan 2025
LP-ICP: General Localizability-Aware Point Cloud Registration for Robust Localization in Extreme Unstructured Environments Haosong Yue Qingyuan Xu Fei Chen Jia Pan Weihai Chen 3DPC 125 0 0 05 Jan 2025
ROLO-SLAM: Rotation-Optimized LiDAR-Only SLAM in Uneven Terrain with Ground Vehicle Yinchuan Wang Bin Ren Xiang Zhang Pengyu Wang Chaoqun Wang Rui Song Yibin Li Max Meng 87 3 0 04 Jan 2025
Selective Kalman Filter: When and How to Fuse Multi-Sensor Information to Overcome Degeneracy in SLAM Jinfeng Xu Guanyu Huang Wenlu Yu Xuanxuan Zhang Lijun Zhao Ruifeng Li Shenghai Yuan Lihua Xie 70 4 0 23 Dec 2024
CCNDF: Curvature Constrained Neural Distance Fields from 3D LiDAR Sequences Akshit Singh Karan Bhakuni Rajendra Nagar 119 0 0 20 Dec 2024
UA-MPC: Uncertainty-Aware Model Predictive Control for Motorized LiDAR Odometry Jianping Li Xinhang Xu Jinxin Liu Kun Cao Shenghai Yuan Lihua Xie 146 5 0 18 Dec 2024
Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency Yang Song Liang Zhao Shoudong Huang 81 0 0 14 Dec 2024
QuadricsReg: Large-Scale Point Cloud Registration using Quadric Primitives Ji Wu Huai Yu Shu Han Xi-Meng Cai Ming-Feng Wang Wen Yang Gui-Song Xia 3DPC 163 0 0 04 Dec 2024
SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks Shibo Zhao Honghao Zhu Yuanjun Gao Beomsoo Kim Yuheng Qiu Aaron M. Johnson Sebastian A. Scherer 151 1 0 03 Dec 2024
LiDAR SLAMMOT based on Confidence-guided Data Association S. Fang Hao Li 155 0 0 02 Dec 2024
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Ziyi Wang Tao Huang Ping Luo Jiangmiao Pang 150 24 0 21 Nov 2024
VLN-Game: Vision-Language Equilibrium Search for Zero-Shot Semantic Navigation Bangguo Yu Yuzhen Liu Lei Han Hamidreza Kasaei Tingguang Li M. Cao LM&Ro 175 3 0 18 Nov 2024
EROAM: Event-based Camera Rotational Odometry and Mapping in Real-time Wanli Xing Shijie Lin Linhan Yang Zeqing Zhang Yanjun Du Maolin Lei Yipeng Pan Jia Pan 74 0 0 17 Nov 2024
The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods Yifu Tao Miguel Ángel Muñoz-Bañón Lintong Zhang Jiahao Wang L. Fu Maurice F. Fallon 55 7 0 15 Nov 2024
GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting D. Lee Hyungtae Lim Soohee Han 88 4 0 11 Nov 2024
IDF-MFL: Infrastructure-free and Drift-free Magnetic Field Localization for Mobile Robot Hongming Shen Zhenyu Wu Wei Wang Qiyang Lyu Huiqin Zhou Danwei W. Wang 57 1 0 09 Nov 2024
Continuous-Time State Estimation Methods in Robotics: A Survey William Talbot Julian Nubert Turcan Tuna Cesar Cadena Frederike Dumbgen J. Tordesillas Timothy D. Barfoot Marco Hutter 170 11 0 06 Nov 2024
Multi-Uncertainty Aware Autonomous Cooperative Planning Shiyao Zhang He Li Shanghang Zhang Shuai Wang Derrick Wing Kwan Ng Chengzhong Xu 63 1 0 01 Nov 2024
LiVisSfM: Accurate and Robust Structure-from-Motion with LiDAR and Visual Cues Hanqing Jiang Liyang Zhou Zhuang Zhang Yihao Yu Guofeng Zhang 58 0 0 29 Oct 2024
Robust Loop Closure by Textual Cues in Challenging Environments Tongxing Jin T. Nguyen Xinhang Xu Yizhuo Yang Shenghai Yuan Jianping Li Lihua Xie 86 6 0 21 Oct 2024
GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting Yusen Xie Zhenmin Huang Jin Wu Jun Ma 3DGS 62 1 0 18 Oct 2024
Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing Jianping Li T. Nguyen Muqing Cao Shenghai Yuan Tzu-Yi Hung Lihua Xie 173 3 0 18 Oct 2024
EPIC: A Lightweight LiDAR-Based UAV Exploration Framework for Large-Scale Scenarios Shuang Geng Zelin Ning Fu Zhang Boyu Zhou 110 2 0 18 Oct 2024
Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System Zheng Liu Haoyang Li Chongjian Yuan Xiyuan Liu Jiarong Lin Rundong Li Chunran Zheng Bingyang Zhou Wenyi Liu Fu Zhang 60 3 0 11 Oct 2024
LiPO: LiDAR Inertial Odometry for ICP Comparison Darwin Mick Taylor Pool Madankumar Sathenahally Nagaraju Michael Kaess Howie Choset Matt Travers 56 2 0 10 Oct 2024
ES-Gaussian: Gaussian Splatting Mapping via Error Space-Based Gaussian Completion Lu Chen Yingfu Zeng Haoang Li Zhitao Deng Jiafu Yan Zhenjun Zhao 3DGS 3DV 76 0 0 09 Oct 2024
Submodular Optimization for Keyframe Selection & Usage in SLAM David Thorne Nathan Chan Yanlong Ma Christa S. Robison Philip R. Osteen Brett T. Lopez 122 0 0 08 Oct 2024
Real-Time Truly-Coupled Lidar-Inertial Motion Correction and Spatiotemporal Dynamic Object Detection Cedric Le Gentil Raphael Falque Teresa Vidal-Calleja 106 4 0 07 Oct 2024
LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation Jianhao Jiao Jinhao He Changkun Liu Sebastian Aegidius Xiangcheng Hu Tristan Braud Dimitrios Kanoulas 100 3 0 06 Oct 2024
LiDAR Inertial Odometry And Mapping Using Learned Registration-Relevant Features Zihao Dong Jeff Pflueger Leonard Jung David Thorne Philip R. Osteen Christa S. Robison Brett T. Lopez Michael Everett 83 0 0 03 Oct 2024
Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition Nikolaos Stathoulopoulos Vidya Sumathy Christoforos Kanellakis G. Nikolakopoulos 130 1 0 03 Oct 2024
CANVAS: Commonsense-Aware Navigation System for Intuitive Human-Robot Interaction Suhwan Choi Yongjun Cho Minchan Kim Jaeyoon Jung Myunchul Joe ... Sungwoong Kim Sungjae Lee Hwiseong Park Jiwan Chung Youngjae Yu 106 0 0 02 Oct 2024
SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment Xingyu Ji Shenghai Yuan Jianping Li Pengyu Yin Haozhi Cao Lihua Xie 120 6 0 02 Oct 2024
Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning I Made Aswin Nahrendra Byeongho Yu Minho Oh Dongkyu Lee Seunghyun Lee Hyeonwoo Lee Hyungtae Lim Hyun Myung 433 2 0 29 Sep 2024
CELLmap: Enhancing LiDAR SLAM through Elastic and Lightweight Spherical Map Representation YiFan Duan Xinran Zhang Yao Li Guoliang You Xiaomeng Chu Jianmin Ji Yanyong Zhang 61 1 0 29 Sep 2024
Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms Fangcheng Zhu Yunfan Ren Longji Yin Fanze Kong Qingbo Liu ... Wenyi Liu Yixi Cai Guozheng Lu Haotian Li Fu Zhang 110 7 0 26 Sep 2024
NavRL: Learning Safe Flight in Dynamic Environments Zhefan Xu Xinming Han Haoyu Shen Hanyu Jin Kenji Shimada 129 7 0 24 Sep 2024