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
Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior Keenan Burnett Angela P. Schoellig Timothy D. Barfoot 110 13 0 09 Feb 2024
Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization Kenji Koide Shuji Oishi Masashi Yokozuka A. Banno 84 8 0 08 Feb 2024
Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements Xing Li Haoying Li Guangyang Zeng Qingcheng Zeng Xiaoqiang Ren Chao Yang Junfeng Wu 55 0 0 07 Feb 2024
Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association Thien-Minh Nguyen Xinhang Xu Tongxing Jin Yizhuo Yang Jianping Li Shenghai Yuan Lihua Xie 101 14 0 04 Feb 2024
NeuV-SLAM: Fast Neural Multiresolution Voxel Optimization for RGBD Dense SLAM Wenzhi Guo Bing Wang Lijun Chen 80 3 0 03 Feb 2024
Night-Rider: Nocturnal Vision-aided Localization in Streetlight Maps Using Invariant Extended Kalman Filtering Tianxiao Gao Mingle Zhao Chengzhong Xu Hui Kong 57 2 0 01 Feb 2024
PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation Xiangcheng Hu Linwei Zheng Jin Wu R. Geng Yang Yu Hexiang Wei Xiaoyu Tang Lujia Wang Jianhao Jiao Mingming Liu 100 13 0 31 Jan 2024
CMRNext: Camera to LiDAR Matching in the Wild for Localization and Extrinsic Calibration Daniele Cattaneo Abhinav Valada 103 7 0 31 Jan 2024
ROAMER: Robust Offroad Autonomy using Multimodal State Estimation with Radar Velocity Integration Morten Nissov Shehryar Khattak Jeffrey A. Edlund Curtis Padgett Kostas Alexis Patrick Spieler 69 4 0 30 Jan 2024
BA-LINS: A Frame-to-Frame Bundle Adjustment for LiDAR-Inertial Navigation Hailiang Tang Tisheng Zhang Liqiang Wang Man Yuan Xiaoji Niu 33 4 0 21 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 106 38 0 17 Jan 2024
Autonomous Multiple-Trolley Collection System with Nonholonomic Robots: Design, Control, and Implementation Peijia Xie Bingyi Xia Anjun Hu Ziqi Zhao Lingxiao Meng Zhi-Qiang Sun Xuheng Gao Jiankun Wang Max Meng 67 11 0 16 Jan 2024
LiDAR Odometry Survey: Recent Advancements and Remaining Challenges Dongjae Lee Minwoo Jung Wooseong Yang Ayoung Kim 115 49 0 29 Dec 2023
GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extrinsic Calibration Method using Ground Plane Motion Constraints TaeYoung Kim Gyuhyeon Pak Euntai Kim 134 2 0 21 Dec 2023
FAPP: Fast and Adaptive Perception and Planning for UAVs in Dynamic Cluttered Environments Minghao Lu Xiyu Fan Han Chen Peng Lu 66 9 0 14 Dec 2023
SE-LIO: Semantics-enhanced Solid-State-LiDAR-Inertial Odometry for Tree-rich Environments Tisheng Zhang Linfu Wei Hailiang Tang Liqiang Wang Man Yuan Xiaoji Niu 65 0 0 04 Dec 2023
LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters Yibin Wu Tiziano Guadagnino Louis Wiesmann L. Klingbeil C. Stachniss H. Kuhlmann 58 8 0 16 Nov 2023
ECMD: An Event-Centric Multisensory Driving Dataset for SLAM Peiyu Chen Weipeng Guan F. Huang Yihan Zhong W. Wen Li-Ta Hsu P. Lu 91 14 0 04 Nov 2023
Transformation Decoupling Strategy based on Screw Theory for Deterministic Point Cloud Registration with Gravity Prior Xinyi Li Zijian Ma Yinlong Liu Walter Zimmer Hu Cao Feihu Zhang Alois Knoll 72 1 0 02 Nov 2023
Fusion-Driven Tree Reconstruction and Fruit Localization: Advancing Precision in Agriculture Kaiming Fu Peng Wei J. Villacrés Zhaodan Kong Stavros G. Vougioukas Brian N. Bailey 19 0 0 23 Oct 2023
ROSS: Radar Off-road Semantic Segmentation Peng-Tao Jiang Srikanth Saripalli 34 1 0 20 Oct 2023
Saturation-Aware Angular Velocity Estimation: Extending the Robustness of SLAM to Aggressive Motions Simon-Pierre Deschênes Dominic Baril Matej Boxan Johann Laconte Philippe Giguère François Pomerleau 100 1 0 11 Oct 2023
SAGE-ICP: Semantic Information-Assisted ICP Jiaming Cui Jiming Chen Liang Li 3DPC 52 2 0 11 Oct 2023
COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry Patrick Pfreundschuh Helen Oleynikova Cesar Cadena Roland Siegwart Olov Andersson 95 18 0 02 Oct 2023
UniQuadric: A SLAM Backend for Unknown Rigid Object 3D Tracking and Light-Weight Modeling Linghao Yang Yanmin Wu Yu Deng Rui Tian Xinggang Hu Tiefeng Ma 64 1 0 29 Sep 2023
MINS: Efficient and Robust Multisensor-aided Inertial Navigation System W. Lee Patrick Geneva Chuchu Chen Guoquan Huang 78 8 0 27 Sep 2023
Adaptive Denoising-Enhanced LiDAR Odometry for Degeneration Resilience in Diverse Terrains M. Ji Wenbo Shi Yujie Cui Chengju Liu Qi Chen 92 7 0 26 Sep 2023
HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatiotemporal Variations Minwoo Jung Wooseong Yang Dongjae Lee Hyeonjae Gil Giseop Kim Ayoung Kim 73 28 0 26 Sep 2023
Traj-LO: In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory Xin Zheng Jianke Zhu 99 20 0 25 Sep 2023
Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline Xiaolei Lang Chao Chen Kai Tang Yukai Ma Jiajun Lv Yong Liu Xingxing Zuo 73 19 0 18 Sep 2023
CARLA-Loc: Synthetic SLAM Dataset with Full-stack Sensor Setup in Challenging Weather and Dynamic Environments Yuhang Han Zhengtao Liu Shuo Sun Dongen Li Jiawei Sun Ziye Hong Marcelo H. Ang Jr 59 4 0 16 Sep 2023
i-Octree: A Fast, Lightweight, and Dynamic Octree for Proximity Search Jun Zhu Hongyi Li Zhepeng Wang Shengjie Wang Tao Zhang 84 6 0 15 Sep 2023
An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain Longji Xu Kaixin Chai Zhichao Han Hong Liu Chao Xu Yanjun Cao Fei Gao 53 17 0 12 Sep 2023
ReLoc-PDR: Visual Relocalization Enhanced Pedestrian Dead Reckoning via Graph Optimization Zongyang Chen Xianfei Pan Changhao Chen 36 4 0 04 Sep 2023
Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment Liangfu Li Haotian Li Xiyuan Liu Dongjiao He Zi-Jian Miao Fanze Kong Rundong Li Zheng Liu Fu Zhang 31 9 0 24 Aug 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 45 4 0 22 Aug 2023
A LiDAR-Inertial SLAM Tightly-Coupled with Dropout-Tolerant GNSS Fusion for Autonomous Mine Service Vehicles Yusheng Wang Y. Lou Weiwei Song Bing Zhan Feihuang Xia Qigeng Duan 57 3 0 22 Aug 2023
4DRVO-Net: Deep 4D Radar-Visual Odometry Using Multi-Modal and Multi-Scale Adaptive Fusion Guirong Zhuo Shouyi Lu Huanyu Zhou Lianqing Zheng Lu Xiong 62 23 0 12 Aug 2023
Occupancy Grid Map to Pose Graph-based Map: Robust BIM-based 2D-LiDAR Localization for Lifelong Indoor Navigation in Changing and Dynamic Environments Miguel A. Vega-Torres A. Braun A. Borrmann 40 6 0 10 Aug 2023
VoxelMap++: Mergeable Voxel Mapping Method for Online LiDAR(-inertial) Odometry Yifei Yuan Chang Wu Yuan You Xiao-jiang Kong Ying Zhang Qiyan Li MoMe 79 17 0 05 Aug 2023
LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation Kai-Yung Huang Junqiao Zhao Zhongyan Zhu Chen Ye T. Feng 81 9 0 18 Jul 2023
3D-SeqMOS: A Novel Sequential 3D Moving Object Segmentation in Autonomous Driving Qipeng Li Yuan Zhuang Yiwen Chen Jianzhu Huai Miaopeng Li Tianbing Ma Yufei Tang Xinlian Liang 3DPC 60 4 0 18 Jul 2023
Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors Yixi Cai Fanze Kong Yunfan Ren Fangcheng Zhu Jiarong Lin Fu Zhang 112 12 0 17 Jul 2023
Semi-Elastic LiDAR-Inertial Odometry Zikang Yuan Fengtian Lang Tianle Xu Ruiye Ming Chen-Ping Zhao Xin Yang 75 10 0 15 Jul 2023
A Dynamic Points Removal Benchmark in Point Cloud Maps Qingwen Zhang Daniel Duberg R. Geng Mingkai Jia Lujia Wang Patric Jensfelt 3DPC 50 16 0 14 Jul 2023
FF-LINS: A Consistent Frame-to-Frame Solid-State-LiDAR-Inertial State Estimator Hailiang Tang Tisheng Zhang X. Niu Liqiang Wang Linfu Wei Jingnan Liu 35 9 0 13 Jul 2023
Air Bumper: A Collision Detection and Reaction Framework for Autonomous MAV Navigation Ruoyu Wang Zixuan Guo Yizhou Chen Xinyi Wang Ben M. Chen 68 2 0 12 Jul 2023
Ground-Challenge: A Multi-sensor SLAM Dataset Focusing on Corner Cases for Ground Robots Jie Yin Hao Yin C. Liang Zhengyou Zhang 75 8 0 08 Jul 2023
Exact Point Cloud Downsampling for Fast and Accurate Global Trajectory Optimization Kenji Koide Shuji Oishi Masashi Yokozuka A. Banno 3DPC 58 1 0 06 Jul 2023
RH-Map: Online Map Construction Framework of Dynamic Objects Removal Based on Region-wise Hash Map Structure Zihong Yan Xiaoyi Wu Zhu Jian Xueqian Wang Bin Liang 82 7 0 02 Jul 2023