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Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method (IROS 2021)
| Date | Stars |
|---|---|
| 2026-07-24 | 274 |
| 2026-07-25 | 274 |
| 2026-07-28 | 274 |
| 2026-07-30 | 274 |
| 2026-08-06 | 274 |
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# lvio_fusion
## Introduction
A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method, which focus on the complex environment of vehicles.
Here is the [paper](https://arxiv.org/abs/2106.06783).
```
@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:
``` bash
catkin_make
```
Run:
``` bash
source devel/setup.bash
roslaunch lvio_fusion_node kitti.launch
```
## Result
kitti:
To generate rosbags using KITTI raw data, you can use the [script](https://github.com/TixiaoShan/LIO-SAM/tree/master/config/doc/kitti2bag) in lio-sam and the configuration file [kitti2.yaml](https://github.com/jypjypjypjyp/lvio_fusion/blob/main/src/lvio_fusion_node/config/kitti2.yaml)
kaist urban:
Here is a video:
[](https://www.youtube.com/watch?v=y0I2_27AyUE "youtube video")
Excerpt of 1,323 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:ac388d2cb8cacd5d, topic:slam, desc:slam, readme:slam