Omni-LIVO: Robust RGB-Colored Multi-Camera Visual-Inertial-LiDAR Odometry via Photometric Migration and ESIKF Fusion

Yinong Cao, Chenyang Zhang, Xin He +9

Wide field-of-view (FoV) LiDAR sensors provide dense geometry across large environments, but existing LiDAR-inertial-visual odometry (LIVO) systems generally rely on a single camer…