LVIO-MOT: Online Lidar-Visual-Inertial Odometry with Multiple Object Tracking

Previous research has demonstrated that combining Simultaneous Localization and Mapping (SLAM) and Multiple Object Tracking (MOT) yields better performance than using either one alone. In this paper, we present LVIO-MOT, an online stereo lidar-visual-inertial odometry which simultaneously tracks poses of objects while performing robot ego-motion tracking. LVIO-MOT consists of the visual-inertial system (VIS) and the lidar-Inertial system (LIS), and each subsystem includes both localization and MOT modules. The localization modules are connected through multi-sensor graph optimization, while the MOT modules extract new targets using VIS, and both systems collaborate to track the targets. Our experiments on the KITTI dataset demonstrate that our system has reached satisfying performance on both robot ego-motion and object tracking.