R-LVIO: Resilient LiDAR-Visual-Inertial Odometry for UAVs in GNSS-denied Environment

In low-altitude, GNSS-denied scenarios, Unmanned aerial vehicles (UAVs) rely on sensor fusion for self-localization. This article presents a resilient multi-sensor fusion localization system that integrates light detection and ranging (LiDAR), cameras, and inertial measurement units (IMUs) to achieve state estimation for UAVs. To address challenging environments, especially unstructured ones, IMU predictions are used to compensate for pose estimation in the visual and LiDAR components. Specifically, the accuracy of IMU predictions is enhanced by increasing the correction frequency of IMU bias through data integration from the LiDAR and visual modules. To reduce the impact of random errors and measurement noise in LiDAR points on visual depth measurement, cross-validation of visual feature depth is performed using reprojection error to eliminate outliers. Additionally, a structure monitor is introduced to switch operation modes in hybrid point cloud registration, ensuring accurate state estimation in both structured and unstructured environments. In unstructured scenes, a geometric primitive capable of representing irregular planes is employed for point-to-surface registration, along with a novel pose-solving method to estimate the UAV's pose. Both private and public datasets collected by UAVs validate the proposed system, proving that it outperforms state-of-the-art algorithms by at least 12.6%.