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A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
| Date | Stars |
|---|---|
| 2026-07-24 | 2431 |
| 2026-07-25 | 2431 |
| 2026-07-28 | 2431 |
| 2026-07-30 | 2431 |
| 2026-08-06 | 2431 |
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# R3LIVE ## A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package ## 1. Introduction **R3LIVE** is a novel LiDAR-Inertial-Visual sensor fusion framework, which takes advantage of measurement of LiDAR, inertial, and visual sensors to achieve robust and accurate state estimation. R3LIVE is built upon our previous work [R2LIVE](https://github.com/hku-mars/r2live), is contained of two subsystems: the LiDAR-inertial odometry (LIO) and the visual-inertial odometry (VIO). The LIO subsystem ([FAST-LIO](https://github.com/hku-mars/FAST_LIO)) takes advantage of the measurement from LiDAR and inertial sensors and builds the geometric structure of (i.e. the position of 3D points) global maps. The VIO subsystem utilizes the data of visual-inertial sensors and renders the map's texture (i.e. the color of 3D points). <br> The source code of this package is released under [**GPLv2**](http://www.gnu.org/licenses/) license. We only allow it free for personal and academic usage. For commercial use, please contact me <ziv.lin.ljrATgmail.com> and Dr. Fu Zhang <fuzhangAThku.hk> to negotiate a different license. ### 1.1 Our paper Our paper has been accepted to **ICRA2022**, which is available online on this [page](https://ieeexplore.ieee.org/document/9811935) or be downloaded [here](https://github.com/hku-mars/r3live/blob/master/papers/R3LIVE%20--%20A%20Robust%2C%20Real-time%2C%20RGB-colored%2C%20LiDAR-Inertial-Visual%20tightly-coupled%20stateEstimation%20and%20mapping%20package.pdf). ### 1.2 Our accompanying videos Our **accompanying videos** are now available on YouTube (click below images to open) and Bilibili<sup>[1](https://www.bilibili.com/video/BV1d341117d6?share_source=copy_web), [2](https://www.bilibili.com/video/BV1e3411q7Di?share_source=copy_web)</sup>. <div align="center"> <a href="https://youtu.be/j5fT8NE5fdg" target="_blank"><img src="https://github.com/ziv-lin/r3live_dataset/blob/main/pics/R3LIVE_paper.jpg" alt="video" width="48%" /></a> <a href="https://youtu.be/4rjrrLgL3nk" target="_blank"><img src="https://github.com/ziv-lin/r3live_dataset/blob/main/pics/R3LIVE_demos.jpg" alt="video" width="48%" /></a> </div> ### 1.3 Our associate dataset: R3LIVE-dataset Our associate dataset [**R3LIVE-dataset**](https://github.com/ziv-lin/r3live_dataset) that use for evaluation is also available online. You can access and download our datasets via this [**Github repository**](https://github.com/ziv-lin/r3live_dataset). ### 1.4 Our open-source hardware design All of the mechanical modules of our handheld device that use for data collection are designed as FDM printable, with the schematics of the design are also open-sourced in this [**Github repository**](https://github.com/ziv-lin/rxlive_handheld). ## 2. What can R3LIVE do? ### 2.1 Strong robustness in various challenging scenarios R3LIVE is robust enough to work well in various of LiDAR-degenerated scenarios (see following figures): <div align="center"> <img src="https://github.com/ziv-lin/r3live_dataset/blob/main/pics/degenerate_01_pic.png" width="98%" /> <img src="https://github.com/ziv-lin/r3live_dataset/blob/main/pics/degenerate_02_pic.png" width="98%" /> <img src="https://github.com/ziv-lin/r3live_dataset/blob/main/gifs/degenerate_01.gif" width="48%" /> <img src="https://github.com/ziv-lin/r3live_dataset/blob/main/gifs/degenerate_02.gif" width="48%" /> </div> And even in simultaneously LiDAR degenerated and visual texture-less environments (see Experiment-1 of our [paper](https://github.com/hku-mars/r3live/blob/master/papers/R3LIVE:%20A%20Robust%2C%20Real-time%2C%20RGB-colored%2C%20LiDAR-Inertial-Visual%20tightly-coupled%20stateEstimation%20and%20mapping%20package.pdf)). <div align="center"> <img src="https://github.com/ziv-lin/r3live_dataset/blob/main/pics/exp_00.png" alt="video" width="48%" /> <img src="https://github.com/ziv-lin/r3live_dataset/blob/main/gifs/degenerate_00.gif" alt="video" width="48%" /> </div> ### 2.2
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