Multi-LVI-SAM: A Robust LiDAR-Visual-Inertial Odometry for Multiple Fisheye Cameras

Xinyu Zhang, Kai Huang, Junqiao Zhao +2

We propose a multi-camera LiDAR-visual-inertial odometry framework, Multi-LVI-SAM, which fuses data from multiple fisheye cameras, LiDAR and inertial sensors for highly accurate an…