# LIVER: A Tightly Coupled LiDAR-Inertial-Visual State Estimator With High Robustness for Underground Environments

> Research article (IEEE Robotics and Automation Letters, 2024) · cited 33× · AI/ML

**Wikidata**: [openalex:W4390969496](https://www.wikidata.org/wiki/openalex:W4390969496)  
**Source**: https://4ort.xyz/entity/liver-a-tightly-coupled-lidar-inertial-visual-state-estimator-with-high-robustness-for-underground-environments