@inproceedings{bbd9014a51604ac396ac228d9d743ceb,
title = "Intensity-Augmented LiDAR-Visual-Inertial Odometry and Meshing",
abstract = "This paper presents a tightly-coupled LiDAR-Visual-Inertial Odometry (LIVO) system that integrates both LIO and VIO subsystems. The system jointly estimates the state by fusing LiDAR or visual data with Inertial Measurement Units (IMUs). It employs point-to-mesh tracking to optimize LiDAR poses and leverages intensity information from LiDAR point clouds to refine camera pose estimation. The optimized camera pose, derived from VIO, plays a crucial role in texture mapping and 3D geometry synthesis (3DGS) rendering. Our experiments demonstrate a significant improvement in average Peak Signal-to-Noise Ratio (PSNR) compared to existing methods, including R3LIVE, SR-LIVO, and FAST-LIVO. Furthermore, the system features a real-time mapping module implemented on the GPU, utilizing Truncated Signed Distance Function (TSDF) fields for global map maintenance and the Marching Cubes algorithm for mesh extraction. This approach ensures rapid and precise tracking and reconstruction capabilities. Additionally, our system supports real-time remeshing of the global map upon detecting loop closures, thereby enhancing the robustness and accuracy of the overall SLAM process.",
author = "Hua, \{Yun Feng\} and Liu, \{Qin Yu\} and Lin, \{Zhong Wei\} and Xiao Gong and Zhao, \{Bin Tao\} and Jian Zhang and Jiang, \{Teng Fei\} and Shi, \{Sheng Jun\} and Xu, \{Wei Wei\}",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025 ; Conference date: 19-10-2025 Through 25-10-2025",
year = "2025",
doi = "10.1109/IROS60139.2025.11245957",
language = "英语",
series = "IEEE International Conference on Intelligent Robots and Systems ",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5347--5354",
editor = "Christian Laugier and Alessandro Renzaglia and Nikolay Atanasov and Stan Birchfield and Grzegorz Cielniak and \{De Mattos\}, Leonardo and Laura Fiorini and Philippe Giguere and Kenji Hashimoto and Javier Ibanez-Guzman and Tetsushi Kamegawa and Jinoh Lee and Giuseppe Loianno and Kevin Luck and Hisataka Maruyama and Philippe Martinet and Hadi Moradi and Urbano Nunes and Julien Pettre and Alberto Pretto and Tommaso Ranzani and Arne Ronnau and Silvia Rossi and Elliott Rouse and Fabio Ruggiero and Olivier Simonin and Danwei Wang and Ming Yang and Eiichi Yoshida and Huijing Zhao",
booktitle = "IROS 2025 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, Conference Proceedings",
address = "美国",
}