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The LiDAR SLAM will also degrade in an unstructured environment and open spaces, which reduces the accuracy of pose estimation and the quality of mapping. In order to solve this problem, on account of the high efficiency of Visual odometry and the high accuracy of LiDAR odometry, this paper investigates the multi-sensor fusion of bidirectional visual\u2013inertial odometry with 3D LiDAR for pose estimation. This method can couple the IMU with the bidirectional vision respectively, and the LiDAR odometry is obtained assisted by the bidirectional visual inertial. The factor graph optimization is constructed, which effectively improves the accuracy of pose estimation. The algorithm in this paper is compared with LIO-LOAM, LeGO-LOAM, VINS-Mono, and so on using challenging datasets such as KITTI and M2DGR. The results show that this method effectively improves the accuracy of pose estimation and has high application value for mobile robots.<\/jats:p>","DOI":"10.3390\/rs16162970","type":"journal-article","created":{"date-parts":[[2024,8,14]],"date-time":"2024-08-14T03:46:36Z","timestamp":1723607196000},"page":"2970","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Pose Estimation Based on Bidirectional Visual\u2013Inertial Odometry with 3D LiDAR (BV-LIO)"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8801-0972","authenticated-orcid":false,"given":"Gang","family":"Peng","sequence":"first","affiliation":[{"name":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China"},{"name":"Key Laboratory of Image Processing and Intelligent Control, Ministry of Education, Wuhan 430074, China"},{"name":"Engineering Research Center of Autonomous Intelligent Unmanned Systems, Ministry of Education, Wuhan 430074, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3054-3412","authenticated-orcid":false,"given":"Qiang","family":"Gao","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China"},{"name":"Key Laboratory of Image Processing and Intelligent Control, Ministry of Education, Wuhan 430074, China"},{"name":"Engineering Research Center of Autonomous Intelligent Unmanned Systems, Ministry of Education, Wuhan 430074, China"}]},{"given":"Yue","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China"},{"name":"Key Laboratory of Image Processing and Intelligent Control, Ministry of Education, Wuhan 430074, China"},{"name":"Engineering Research Center of Autonomous Intelligent Unmanned Systems, Ministry of Education, Wuhan 430074, China"}]},{"given":"Jianfeng","family":"Li","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan 430074, China"},{"name":"Key Laboratory of Image Processing and Intelligent Control, Ministry of Education, Wuhan 430074, China"},{"name":"Engineering Research Center of Autonomous Intelligent Unmanned Systems, Ministry of Education, Wuhan 430074, China"}]},{"given":"Zhang","family":"Deng","sequence":"additional","affiliation":[{"name":"Beijing Railway Engineering Electromechanical Technology Research Institute Co., Beijing 100071, China"}]},{"given":"Cong","family":"Li","sequence":"additional","affiliation":[{"name":"Wuhan Lisai Technology Co., Ltd., Wuhan 430074, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,8,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"3800","DOI":"10.1109\/TVT.2018.2796242","article-title":"Geometry-based localization for GPS outage in vehicular cyber physical systems","volume":"67","author":"Kaiwartya","year":"2018","journal-title":"IEEE Trans. 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