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Coco-LIC

Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline

<p> <img src="figure/r3live.gif" width="30%" alt="r3live" /> <img src="figure/fastlivo.gif" width="30%" alt="fastlivo" /> <img src="figure/lvisam.gif" width="30%" alt="lvisam" /> </p>

The following are three main characters of 🥥 Coco-LIC [Paper] [Video] :

Prerequisites

Install

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git
cd ~/catkin_ws && catkin_make
cd ~/catkin_ws/src
git clone https://github.com/APRIL-ZJU/Coco-LIC.git
cd ~/catkin_ws && catkin_make
source ~/catkin_ws/devel/setup.bash
cd ~/catkin_ws/src/Coco-LIC && mkdir data

Run

Supplementary1 - non-uniform verification

1 control point per 0.1 seconds 🥊 adaptively placing control points per 0.1 seconds.

<img src="figure/uni-vs-nonuni.png" width="60%" height="60%" />

The different colors of the trajectory correspond to different densities of control points.

<img src="figure/color-traj.png" width="60%" height="60%" />

Supplementary2 - comparison on NTU-VIRAL

We additionally compare Coco-LIC with our previous work CLIC on NTU-VIRAL dataset, employing 1 LiDAR.

The best results are marked in bold. It can be seen that Coco-LIC stably outperforms CLIC.

<img src="figure/cocovsclic.png" width="60%" height="60%" />

TODO List

Citation

If you find our work helpful, please consider citing 🌟:

@article{lang2023coco,
  title={Coco-LIC: continuous-time tightly-coupled LiDAR-inertial-camera odometry using non-uniform B-spline},
  author={Lang, Xiaolei and Chen, Chao and Tang, Kai and Ma, Yukai and Lv, Jiajun and Liu, Yong and Zuo, Xingxing},
  journal={IEEE Robotics and Automation Letters},
  year={2023},
  publisher={IEEE}
}
@article{lv2023continuous,
  title={Continuous-time fixed-lag smoothing for lidar-inertial-camera slam},
  author={Lv, Jiajun and Lang, Xiaolei and Xu, Jinhong and Wang, Mengmeng and Liu, Yong and Zuo, Xingxing},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2023},
  publisher={IEEE}
}

Acknowledgement

Thanks for Basalt, LIO-SAM, Open-VINS, VINS-Mono, R3LIVE and FAST-LIVO.

LICENSE

The code is released under the GNU General Public License v3 (GPL-3).