FREE-LIVO: Physically Decoupled Yet Tightly Coupled LiDAR-Inertial-Visual Odometry

Reon Tabata, Kenji Koide, Shuji Oishi +5

LiDAR-Inertial-Visual Odometry (LIVO) integrates complementary LiDAR, camera, and IMU measurements to achieve robust state estimation. However, most existing methods assume a fixed…