# R $^2$ LIVE: A Robust, Real-Time, LiDAR-Inertial-Visual Tightly-Coupled State Estimator and Mapping

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 266× · AI/ML

**Wikidata**: [openalex:W3181051035](https://www.wikidata.org/wiki/openalex:W3181051035)  
**Source**: https://4ort.xyz/entity/r-2-live-a-robust-real-time-lidar-inertial-visual-tightly-coupled-state-estimator-and-mapping