https://github.com/hku-mars/FAST-LIVO2
FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
https://github.com/hku-mars/FAST-LIVO2
3d-reconstruction colored-point-cloud gaussian-splatting lidar-camera-fusion lidar-inertial-odometry lidar-slam mesh-reconstruction nerf sensor-fusion slam
Last synced: about 2 months ago
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FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
- Host: GitHub
- URL: https://github.com/hku-mars/FAST-LIVO2
- Owner: hku-mars
- Created: 2024-04-22T12:49:47.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2024-10-08T02:15:05.000Z (about 1 year ago)
- Last Synced: 2024-11-10T22:14:44.161Z (11 months ago)
- Topics: 3d-reconstruction, colored-point-cloud, gaussian-splatting, lidar-camera-fusion, lidar-inertial-odometry, lidar-slam, mesh-reconstruction, nerf, sensor-fusion, slam
- Homepage:
- Size: 83.4 MB
- Stars: 1,176
- Watchers: 114
- Forks: 97
- Open Issues: 28
-
Metadata Files:
- Readme: README.md
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README
# FAST-LIVO2
## FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
### 📢 News
- 🔓 **2025-01-23**: Code released!
- 🎉 **2024-10-01**: Accepted by **T-RO '24**!
- 🚀 **2024-07-02**: Conditionally accepted.
### 📬 Contact
If you have any questions, please feel free to contact: Chunran Zheng [zhengcr@connect.hku.hk](mailto:zhengcr@connect.hku.hk).
## 1. Introduction
FAST-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.
### 1.1 Related video
Our accompanying video is now available on [**Bilibili**](https://www.bilibili.com/video/BV1Ezxge7EEi) and [**YouTube**](https://youtu.be/6dF2DzgbtlY).
### 1.2 Related paper
[FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry](https://arxiv.org/pdf/2408.14035)
[FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry](https://arxiv.org/pdf/2203.00893)
### 1.3 Our hard-synchronized equipment
We 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).
### 1.4 Our associate dataset: FAST-LIVO2-Dataset
Our 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.
### 1.5 Our LiDAR-camera calibration method
The [**FAST-Calib**](https://github.com/hku-mars/FAST-Calib) toolkit is recommended. Its output extrinsic parameters can be directly filled into the YAML file.
## 2. Prerequisited
### 2.1 Ubuntu and ROS
Ubuntu 18.04~20.04. [ROS Installation](http://wiki.ros.org/ROS/Installation).
### 2.2 PCL && Eigen && OpenCV
PCL>=1.8, Follow [PCL Installation](https://pointclouds.org/).
Eigen>=3.3.4, Follow [Eigen Installation](https://eigen.tuxfamily.org/index.php?title=Main_Page).
OpenCV>=4.2, Follow [Opencv Installation](http://opencv.org/).
### 2.3 Sophus
Sophus Installation for the non-templated/double-only version.
```bash
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build && cd build && cmake ..
make
sudo make install
```
### 2.4 Vikit
Vikit 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.
```bash
# Different from the one used in fast-livo1
cd catkin_ws/src
git clone https://github.com/xuankuzcr/rpg_vikit.git
```
## 3. Build
Clone the repository and catkin_make:
```
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/FAST-LIVO2
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
```
## 4. Run our examples
Download our collected rosbag files via OneDrive ([**FAST-LIVO2-Dataset**](https://connecthkuhk-my.sharepoint.com/:f:/g/personal/zhengcr_connect_hku_hk/ErdFNQtjMxZOorYKDTtK4ugBkogXfq1OfDm90GECouuIQA?e=KngY9Z)).
```
roslaunch fast_livo mapping_avia.launch
rosbag play YOUR_DOWNLOADED.bag
```
## 5. License
The source code of this package is released under the [**GPLv2**](http://www.gnu.org/licenses/) license. For commercial use, please contact me at and Prof. Fu Zhang at to discuss an alternative license.