[Question] Is there communication from VIO to LIO? about r3live HOT 2 CLOSED

1. The LIO actually is affected by the VIO. After the update of VIO, the prior estimation of the LIO is propagated from the IMU propagation.
2. In a long tunnel-like environment, the overall system can still work normally by utilizing the measurement from the VIO subsystem (e.g., see Experiment-2 of our previous R2LIVE).
   

from r3live.

Thanks for the answer, now I see there's only one state (g_lio_state) being estimated both in the LIO subsystem and the VIO subsystem. That was what was confusing me.

Thanks for the great work

from r3live.