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An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mapping (SLAM). This repository also provides multi-sensor simulation and data.
This repo contains my snippet and tutorials for Lie Group and Lie Algebra, Topology and Configuration of Robot and Space ,IMU, ROS2 Gazebo Integration, State Estimation, VIO, LIO, and Deep Learning based SLAM
🪙 COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry (ICRA 2024)
【RA-L 2026】 A Robust and Efficient LiDAR-Inertial Odometry System with a Compact Mapping Strategy.
Elevator-LIO Official implementation