AF-RLIO

YouTube | arXiv

AF-RLIO: Adaptive Fusion of Radar-LiDAR-Inertial Information for Robust Odometry in Challenging Environments (ICRA 2025, accepted).

Chenglong Qian, Yang Xu, Xiufang Shi, Jiming Chen, Liang Li*

Prerequisites

1. Ubuntu 20.04, ROS1
2. Dependencies

• Eigen3
• PCL
• GTSAM
• OpenCV4

Installation

  mkdir af_rlio/src
  cd af_rlio/src
  git clone https://github.com/QCL0920/AF-RLIO.git
  cd ..
  catkin_make
  source devel/setup.bash
  

Run

source devel/setup.bash 
roslaunch af_rlio mapping_ouster64.launch
rosbag play YOUR_DOWNLOADED.bag

Acknowledgements

Thanks for the excellent open-source projects that we rely on: FAST-LIO2.