Zhou Zhang from Tsinghua UniversityScientific ResearchThe team proposed a novel VIO scheme within the framework of the error-state iterative Kalman filter:FT-LVIO--A kind ofA fully tightly coupled multi-sensor fusion framework that consists of LIDAR,MonocularCameraSingleAnti-cameraand IMU (Inertial Measurement Unit) in three parts, while fusing measurements from three complementary sensors to achieve accurate and stable self-motion estimation. The team performed extensive simulation experiments on the dataset and also performed ablation experiments to evaluate the performance of FT-LVIO. The results show that FT-LIVO has the highest accuracy.

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