Point-line LIVO Using Patch-Based Gradient Optimization for Degenerate Scenes
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bilibiliStong__
Point-line LIVO Using Patch-Based Gradient Optimization for Degenerate Scenes
This article proposes a point-line LiDAR-visual-inertial odometry (PL-LIVO) based on the system implementation of FAST-LIVO for robust localization in LiDAR-degenerate scenes. The key idea is integrating both points and lines into the proposed direct visual odometry subsystem (PL-DVO). By minimizing the patch-based gradient residuals for state ...
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