joanna-he / ligo.

LIGO

LIGO: Tightly Coupled LiDAR-Inertial-GNSS Odometry based on a Hierarchy Fusion Framework for Global Localization with Real-time Mapping

Code, paper, video are coming soon......

Developers:

The codes of this repo are contributed by: Dongjiao He (贺东娇)

Properties

LIGO is a multi-sensor fusion framework that maximizes the complementary properties of both LiDAR and GNSS systems. This package achieves the following properties:

1. Competitive accuracy in trajectory estimation across large-scale scenarios.
2. Robustness to malfunctions of either GNSS or LiDAR sensors, enabling seamless handling of added or lost sensor signals during operation.
3. High-output-frequency odometry.
4. Capability of providing globally referenced pose estimations in both indoor and outdoor environments, suitable for ground vehicles and uncrewed aerial vehicles (UAVs).
5. No requirement for GNSS observations to be obtained exactly at the beginning or end time of LiDAR scans.
6. Robustness to large outliers and high noise levels in GNSS observations.

Demo

Performance on a sequence with severe LiDAR degeneracy

ligo.'s Issues

paper和code预估什么时候可以获取

娇姐你好，这个论文和代码大概在什么时候发布？这个lidar-imu-gnss的融合是基于ieskf的还是graph optimization的呢？如果是ieskf的话是在point-lio上的融合吗？还是fastlio2？