{"id":14537595,"url":"https://github.com/hku-mars/FAST-LIVO2","last_synced_at":"2025-09-02T20:31:07.644Z","repository":{"id":236187032,"uuid":"790197987","full_name":"hku-mars/FAST-LIVO2","owner":"hku-mars","description":"FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry","archived":false,"fork":false,"pushed_at":"2024-10-08T02:15:05.000Z","size":87429,"stargazers_count":1176,"open_issues_count":28,"forks_count":97,"subscribers_count":114,"default_branch":"main","last_synced_at":"2024-11-10T22:14:44.161Z","etag":null,"topics":["3d-reconstruction","colored-point-cloud","gaussian-splatting","lidar-camera-fusion","lidar-inertial-odometry","lidar-slam","mesh-reconstruction","nerf","sensor-fusion","slam"],"latest_commit_sha":null,"homepage":"","language":null,"has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/hku-mars.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-04-22T12:49:47.000Z","updated_at":"2024-11-09T16:57:42.000Z","dependencies_parsed_at":"2024-08-23T08:51:36.053Z","dependency_job_id":null,"html_url":"https://github.com/hku-mars/FAST-LIVO2","commit_stats":null,"previous_names":["hku-mars/fast-livo2"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hku-mars%2FFAST-LIVO2","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hku-mars%2FFAST-LIVO2/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hku-mars%2FFAST-LIVO2/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hku-mars%2FFAST-LIVO2/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/hku-mars","download_url":"https://codeload.github.com/hku-mars/FAST-LIVO2/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":231806556,"owners_count":18429390,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["3d-reconstruction","colored-point-cloud","gaussian-splatting","lidar-camera-fusion","lidar-inertial-odometry","lidar-slam","mesh-reconstruction","nerf","sensor-fusion","slam"],"created_at":"2024-09-05T10:01:04.518Z","updated_at":"2025-09-02T20:31:07.635Z","avatar_url":"https://github.com/hku-mars.png","language":null,"funding_links":[],"categories":["1. 机器人项目 | Robots","C++"],"sub_categories":[],"readme":"# FAST-LIVO2\n\n## FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry\n\n### 📢 News\n\n- 🔓 **2025-01-23**: Code released!  \n- 🎉 **2024-10-01**: Accepted by **T-RO '24**!  \n- 🚀 **2024-07-02**: Conditionally accepted.\n\n### 📬 Contact\n\nIf you have any questions, please feel free to contact: Chunran Zheng [zhengcr@connect.hku.hk](mailto:zhengcr@connect.hku.hk).\n\n## 1. Introduction\n\nFAST-LIVO2 is an efficient and accurate LiDAR-inertial-visual fusion localization and mapping system, demonstrating significant potential for real-time 3D reconstruction and onboard robotic localization in severely degraded environments.\n\n\u003cdiv align=\"center\"\u003e\n    \u003cimg src=\"pics/Framework.png\" width = 100% \u003e\n\u003c/div\u003e\n\n### 1.1 Related video\n\nOur accompanying video is now available on [**Bilibili**](https://www.bilibili.com/video/BV1Ezxge7EEi) and [**YouTube**](https://youtu.be/6dF2DzgbtlY).\n\n### 1.2 Related paper\n\n[FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry](https://arxiv.org/pdf/2408.14035)  \n\n[FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry](https://arxiv.org/pdf/2203.00893)\n\n### 1.3 Our hard-synchronized equipment\n\nWe open-source our handheld device, including CAD files, synchronization scheme, STM32 source code, wiring instructions, and sensor ROS driver. Access these resources at this repository: [**LIV_handhold**](https://github.com/xuankuzcr/LIV_handhold).\n\n### 1.4 Our associate dataset: FAST-LIVO2-Dataset\nOur associate dataset [**FAST-LIVO2-Dataset**](https://connecthkuhk-my.sharepoint.com/:f:/g/personal/zhengcr_connect_hku_hk/ErdFNQtjMxZOorYKDTtK4ugBkogXfq1OfDm90GECouuIQA?e=KngY9Z) used for evaluation is also available online.\n\n### 1.5 Our LiDAR-camera calibration method\nThe [**FAST-Calib**](https://github.com/hku-mars/FAST-Calib) toolkit is recommended. Its output extrinsic parameters can be directly filled into the YAML file. \n\n## 2. Prerequisited\n\n### 2.1 Ubuntu and ROS\n\nUbuntu 18.04~20.04.  [ROS Installation](http://wiki.ros.org/ROS/Installation).\n\n### 2.2 PCL \u0026\u0026 Eigen \u0026\u0026 OpenCV\n\nPCL\u003e=1.8, Follow [PCL Installation](https://pointclouds.org/). \n\nEigen\u003e=3.3.4, Follow [Eigen Installation](https://eigen.tuxfamily.org/index.php?title=Main_Page).\n\nOpenCV\u003e=4.2, Follow [Opencv Installation](http://opencv.org/).\n\n### 2.3 Sophus\n\nSophus Installation for the non-templated/double-only version.\n\n```bash\ngit clone https://github.com/strasdat/Sophus.git\ncd Sophus\ngit checkout a621ff\nmkdir build \u0026\u0026 cd build \u0026\u0026 cmake ..\nmake\nsudo make install\n```\n\n### 2.4 Vikit\n\nVikit contains camera models, some math and interpolation functions that we need. Vikit is a catkin project, therefore, download it into your catkin workspace source folder.\n\n```bash\n# Different from the one used in fast-livo1\ncd catkin_ws/src\ngit clone https://github.com/xuankuzcr/rpg_vikit.git \n```\n\n## 3. Build\n\nClone the repository and catkin_make:\n\n```\ncd ~/catkin_ws/src\ngit clone https://github.com/hku-mars/FAST-LIVO2\ncd ../\ncatkin_make\nsource ~/catkin_ws/devel/setup.bash\n```\n\n## 4. Run our examples\n\nDownload our collected rosbag files via OneDrive ([**FAST-LIVO2-Dataset**](https://connecthkuhk-my.sharepoint.com/:f:/g/personal/zhengcr_connect_hku_hk/ErdFNQtjMxZOorYKDTtK4ugBkogXfq1OfDm90GECouuIQA?e=KngY9Z)). \n\n```\nroslaunch fast_livo mapping_avia.launch\nrosbag play YOUR_DOWNLOADED.bag\n```\n\n\n## 5. License\n\nThe source code of this package is released under the [**GPLv2**](http://www.gnu.org/licenses/) license. For commercial use, please contact me at \u003czhengcr@connect.hku.hk\u003e and Prof. Fu Zhang at \u003cfuzhang@hku.hk\u003e to discuss an alternative license.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhku-mars%2FFAST-LIVO2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhku-mars%2FFAST-LIVO2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhku-mars%2FFAST-LIVO2/lists"}