This work is based on LVI-SAM, VINS-MOMO, LILI-OM and Scancontext. Thanks for their great work!
@ARTICLE{10445759,
author={Zhao, Xiongwei and Wen, Congcong and Prakhya, Sai Manoj and Yin, Hongpei and Zhou, Rundong and Sun, Yijiao and Xu, Jie and Bai, Haojie and Wang, Yang},
journal={IEEE Transactions on Instrumentation and Measurement},
title={Multi-Modal Features and Accurate Place Recognition with Robust Optimization for Lidar-Visual-Inertial SLAM},
year={2024},
volume={},
number={},
pages={1-1},
keywords={Laser radar;Simultaneous localization and mapping;Visualization;Feature extraction;Optimization;Robot sensing systems;Three-dimensional displays;Lidar-Visual-Inertial SLAM;State Estimation;Robust Iterative Optimization;3D Lidar Loop Closure Descriptor;Two-Stage Loop Detection},
doi={10.1109/TIM.2024.3370762}}
The code is provided under the Apache-2.0 license