FAST-LIVO2 Datasets

Replica

Multi-camera Demo Dataset

If you find the datasets helpful, please cite:

# GS-SDF
@article{liu2025gssdflidaraugmentedgaussiansplatting,
      title={GS-SDF: LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction}, 
      author={Jianheng Liu and Yunfei Wan and Bowen Wang and Chunran Zheng and Jiarong Lin and Fu Zhang},
      journal={arXiv preprint arXiv:2108.10470},
      year={2025},
}

# M2Mapping
@article{liu2024neural,
title={Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems},
author={Jianheng Liu and Chunran Zheng and Yunfei Wan and Bowen Wang and Yixi Cai and Fu Zhang},
journal={arXiv preprint arXiv:2108.10470},
year={2024},
}

# FAST-LIVO2
@article{zheng2024fast,
  title={Fast-livo2: Fast, direct lidar-inertial-visual odometry},
  author={Zheng, Chunran and Xu, Wei and Zou, Zuhao and Hua, Tong and Yuan, Chongjian and He, Dongjiao and Zhou, Bingyang and Liu, Zheng and Lin, Jiarong and Zhu, Fangcheng and others},
  journal={IEEE Transactions on Robotics},
  year={2024},
  publisher={IEEE}
}