state estimation

LVIO-Fusion:Tightly-Coupled LiDAR-Visual-Inertial Odometry and Mapping in Degenerate Environments
This letter presented a tightly-coupled LiDAR-inertial-visual framework, which couples the LiDAR and camera at the measurement level.
LVIO-Fusion:Tightly-Coupled LiDAR-Visual-Inertial Odometry and Mapping in Degenerate Environments