F-LIVO: A Feature-Level Geometric Measurement Framework for LiDAR-Inertial-Visual Odometry

Measurement-level LiDAR-Inertial-Visual Odometry (LIVO) can achieve high accuracy, and its practical resource requirements depend on the adopted association and map-maintenance strategy. Persistently attaching dense photometric patches or appearance attributes to mapped LiDAR points can introduce additional storage, association, and update costs.

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