/lvio_fusion

Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method

Primary LanguageC++

lvio_fusion

Introduction

A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method. In 1.0, we built a common framework, and we will focus on the complex environment of vehicles in 2.0. (This is still in development)

@misc{jia2021lviofusion,
      title={Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method}, 
      author={Yupeng Jia and Haiyong Luo and Fang Zhao and Guanlin Jiang and Yuhang Li and Jiaquan Yan and Zhuqing Jiang},
      year={2021},
      eprint={2106.06783},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Dependencies

  • ros (Kinetic/Melodic/Noetic)
  • Eigen3
  • Sophus
  • opencv
  • pcl
  • ceres-solver
  • libgeographic-dev

Usage

Complie:

catkin_make

Run:

source devel/setup.bash
roslaunch lvio_fusion_node kitti.launch

Result

kitti:

kaist urban: