Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual
  tightly-coupled state Estimation and mapping package   In this letter, we propose a novel LiDAR-Inertial-Visual sensor fusion
framework termed R3LIVE, which takes advantage of measurement of LiDAR,
inertial, and visual sensors to achieve robust and accurate state estimation.
R3LIVE is contained of two subsystems, the LiDAR-inertial odometry (LIO) and
visual-inertial odometry (VIO). The LIO subsystem (FAST-LIO) takes advantage of
the measurement from LiDAR and inertial sensors and builds the geometry
structure of (i.e. the position of 3D points) global maps. The VIO subsystem
utilizes 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 the frame-to-map photometric
error. The developed system R3LIVE is developed based on our previous work
R2LIVE, with careful architecture design and implementation. Experiment results
show that the resultant system achieves more robustness and higher accuracy in
state estimation than current counterparts (see our attached video).
  R3LIVE is a versatile and well-engineered system toward various possible
applications, which can not only serve as a SLAM system for real-time robotic
applications, but can also reconstruct the dense, precise, RGB-colored 3D maps
for applications like surveying and mapping. Moreover, to make R3LIVE more
extensible, we develop a series of offline utilities for reconstructing and
texturing meshes, which further minimizes the gap between R3LIVE and various of
3D applications such as simulators, video games and etc (see our demos video).
To share our findings and make contributions to the community, we open source
R3LIVE on our Github, including all of our codes, software utilities, and the
mechanical design of our device.

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The categories of this paper are: ao-sci
6
The categories of this paper are: astro-ph
14
The categories of this paper are: math-ph
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The categories of this paper are: adap-org
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The categories of this paper are: q-fin
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The categories of this paper are: cmp-lg
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The categories of this paper are: chao-dyn
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The categories of this paper are: patt-sol
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The categories of this paper are: quant-ph
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The categories of this paper are: chem-ph
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The categories of this paper are: acc-phys
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The categories of this paper are: q-alg
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The categories of this paper are: physics
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The categories of this paper are: q-bio
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The categories of this paper are: nucl-th
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The categories of this paper are: gr-qc