A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping
Our preprint paper: we have corrected some typos and errors of our previous version of paper, the amended paper can be access at here. When amending our paper, I would like to thanks narutojxl (焦小亮), who has found my errors and provided his corrections.
Our related video: our related video is now available on YouTube (click below images to open):
R2LIVE is a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses the measurement from the LiDAR, inertial sensor, visual camera to achieve robust, accurate state estimation. Taking advantage of measurement from all individual sensors, our algorithm is robust enough to various visual failure, LiDAR-degenerated scenarios, and is able to run in real time on an on-board computation platform, as shown by extensive experiments conducted in indoor, outdoor, and mixed environment of different scale.
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation and its additional ROS pacakge:
sudo apt-get install ros-XXX-cv-bridge ros-XXX-tf ros-XXX-message-filters ros-XXX-image-transport
NOTICE: remember to replace "XXX" on above command as your ROS distributions, for example, if your use ROS-kinetic, the command should be:
sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport
1.2. Ceres Solver
Follow Ceres Installation.
Follow livox_ros_driver Installation.
Clone the repository and catkin_make:
cd ~/catkin_ws/src git clone https://github.com/hku-mars/r2live.git cd ../ catkin_make source ~/catkin_ws/devel/setup.bash
3. Run our examples
Download Our recorded rosbag and then
roslaunch r2live demo.launch rosbag play YOUR_DOWNLOADED.bag
Our repository contains two main subsystems, with our LiDAR-inertial and visual-inertial system is developed based on FAST-LIO and VINS-Mono, respectively. Besides, our implementations also use the codes of ikd-Tree, BALM and loam-livox.
The source code is released under GPLv2 license.
We are still working on improving the performance and reliability of our codes. For any technical issues, please contact me via email Jiarong Lin < [email protected] >.
For commercial use, please contact Dr. Fu Zhang < [email protected] >