R 3 LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

In this paper, we propose a novel LiDAR-Inertial-Visual sensor fusion framework termed R 3 LIVE, which takes advantage of measurement of LiDAR, inertial, and visual sensors to achieve robust and accurate state estimation. R 3 LIVE consists of two subsystems, a LiDAR-Inertial odometry (LIO) and a Visual-Inertial odometry (VIO). The LIO subsystem (FAST-LIO) utilizes the measurements from LiDAR and inertial sensors and builds the geometric structure (i.e., the positions of 3D points) of the map. The VIO subsystem uses the data of Visual-Inertial sensors and renders the map's texture (i.e., the color of 3D points). More specifically, the VIO subsystem fuses the visual data directly and effectively by minimizing…