🆕ImMesh: An Immediate LiDAR Localization and Meshing Framework

ImMesh: An Immediate LiDAR Localization and Meshing Framework

1. Introduction

ImMesh is a novel LiDAR(-inertial) odometry and meshing framework, which takes advantage of input of LiDAR data, achieving the goal of simultaneous localization and meshing in real-time. ImMesh comprises four tightly-coupled modules: receiver, localization, meshing, and broadcaster. The localization module utilizes the prepossessed sensor data from the receiver, estimates the sensor pose online by registering LiDAR scans to maps, and dynamically grows the map. Then, our meshing module takes the registered LiDAR scan for incrementally reconstructing the triangle mesh on the fly. Finally, the real-time odometry, map, and mesh are published via our broadcaster.

1.2 Our accompanying videos

Our accompanying videos are now available on YouTube (click below images to open) and Bilibili^{1, 2, 3}.

2. What can ImMesh do?

2.1 Simultaneous LiDAR localization and mesh reconstruction on the fly

2.2 ImMesh for LiDAR point cloud reinforement

2.3 ImMesh for rapid, lossless texture reconstruction

3. Contact us

If you have any questions about this work, please feel free to contact me <ziv.lin.ljrATgmail.com> and Dr. Fu Zhang <fuzhangAThku.hk> via email.