RESEARCH PAPERYear 2025

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry

Chunran Zheng; Wei Xu; Zuhao Zou; Tong Hua; Chongjian Yuan; Dongjiao He; Bingyang Zhou; Zheng Liu; Jiarong Lin; Fangcheng Zhu; Yunfan Ren; Rong Wang; Fanle Meng; Fu Zhang

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Major category: Related resources
Quadrant: Not applicable
Architecture: Not applicable
Prediction paradigm: Not applicable
Subcategories: 3D representations & state estimation
Source review status: Verified from primary sources

Category review. FAST-LIVO2 fuses LiDAR, inertial and camera measurements into odometry and a map; planning and control remain external. It belongs in Related resources as relevant robotic localization infrastructure, not in learned WAM Components or Foundations merely because it predates 2026. Reading evidence

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BibTeX

@article{Zheng2024FASTLIVO2Fast,
  author       = {Chunran Zheng and
                  Wei Xu and
                  Zuhao Zou and
                  Tong Hua and
                  Chongjian Yuan and
                  Dongjiao He and
                  Bingyang Zhou and
                  Zheng Liu and
                  Jiarong Lin and
                  Fangcheng Zhu and
                  Yunfan Ren and
                  Rong Wang and
                  Fanle Meng and
                  Fu Zhang},
  title        = {{FAST-LIVO2:} Fast, Direct LiDAR-Inertial-Visual Odometry},
  journal      = {TRO},
  volume       = {41},
  pages        = {326--346},
  year         = {2025},

}

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