Coco-LIC: continuous-time tightly-coupled LiDAR-inertial-camera odometry using non-uniform B-spline

Abstract:

In this letter, we propose an efficient continuous-time LiDAR-Inertial-Camera Odometry, utilizing non-uniform B-splines to tightly couple measurements from the LiDAR, IMU, and camera.

Authors: Xiaolei Lang, Chao Chen, Kai Tang, Yukai Ma, Jiajun Lv, Yong Liu, and Xingxing Zuo

Paper: Download here

Citation: X. Lang et al., “Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry Using Non-Uniform B-Spline,” in IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 7074-7081, Nov. 2023, doi: 10.1109/LRA.2023.3315542.

BibTex:

@article{lang2023ral,
    author={Lang, Xiaolei and Chen, Chao and Tang, Kai and Ma, Yukai and Lv, Jiajun and Liu, Yong and Zuo, Xingxing},
    journal={IEEE Robotics and Automation Letters}, 
    title={Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry Using Non-Uniform B-Spline}, 
    year={2023},
    volume={8},
    number={11},
    pages={7074-7081},
    doi={10.1109/LRA.2023.3315542}
}