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LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering

Overview

Hardware platform

https://github.com/sheng00125/LIV_handhold

LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering

IEEE Robotics and Automation Letters, 2024.

demovideo1

Features

  • Real-time fusion of LiDAR, IMU, and camera data.
  • High-performance 3D radiance field map rendering.

Demo on public dataset of HKU:

demovideo2

Demo on our self-collect dataset:

demovideo3

Dependencies

The following libraries and tools are required to run the project:

To install dependencies, you can use the following command for Ubuntu:

sudo apt-get install 

Datasets

Installation

  1. Clone the repository:
git clone git@github.com:sheng00125/LIV-GaussMap.git
cd LIV-GaussMap
  1. Build the project using catkin:
catkin_make
source devel/setup.bash

Usage

  1. Launch the main application:

If you find this work useful, please consider citing our paper:

@article{hong2024liv,
  title={LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering},
  author={Hong, Sheng and et al.},
  journal={IEEE Robotics and Automation Letters},
  year={2024},
  publisher={IEEE}
}

License

This project is licensed under the MIT License - see the LICENSE file for details.

Contact

For any inquiries or questions, feel free to open an issue or contact the authors of the paper.

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