Point-Line LIVO is a LiDAR-visual-inertial Odometry employing both visual Point and Line Patches on the Gradient image for robust localization in LiDAR-degenerate scenes.

• [2025-10-xx] Based on Point-Line LIVO, our Gaussian Splatting Mapping system (LIV-GSM) is unveiled! 🎉 [Paper] [Page] [bilibili] (to be released here)
• [2025-9-28] The enhanced version of the Point-Line LIVO code is released!

Questions? Please don't hesitate to reach out to Tong Shi at shitong_2001@163.com.

We test on ubuntu 20.04.

1. Install ROS Noetic.

2. Install Point-Line LIVO.

   mkdir -p ~/catkin_livo/src
   cd ~/catkin_livo/src
   git clone https://github.com/S-Torin/Point-line-LIVO.git
   cd ~/catkin_livo
   catkin_make

• Download FAST-LIVO Dataset or R3LIVE Dataset or FAST-LIVO2 Dataset or SEU Dataset.

• Launch Point-Line LIVO.

  cd ~/catkin_livo
  source devel/setup.bash
  roslaunch livo fastlivo.launch
  # roslaunch livo r3live.launch
  # roslaunch livo fastlivo2.launch
  # roslaunch livo seu.launch

• Play Rosbag.

  rosbag play YOUR_BAG

• The localization and mapping results will be saved in ~/catkin_livo/src/Point-line-LIVO/Log.

If you find our work helpful, please consider citing 🌟:

@ARTICLE{pl-livo,
  author={Shi, Tong and Qian, Kun and Fang, Yixin and Zhang, Yun and Yu, Hai},
  journal={IEEE Robotics and Automation Letters},
  title={Point-Line LIVO Using Patch-Based Gradient Optimization for Degenerate Scenes},
  year={2024},
  volume={9},
  number={11},
  pages={9717-9724},
  doi={10.1109/LRA.2024.3466088}
}

Thanks for FAST-LIO, Voxel-Map, FAST-LIVO, FAST-LIVO2 and LIV-GSM.

The code is released under the GNU General Public License v3 (GPL-3).