What difference between PV-LIO and VoxelMap?

[qpc001]

[HViktorTsoi]

Hi dear reviewer, this is a implementation of voxel map, comparing with the original paper and the original repo, this repo support IMU-based IEKF, and also support LiDAR-IMU extrinsic estimation.

[iwander-all]

Hi dear reviewer, this is a implementation of voxel map, comparing with the original paper and the original repo, this repo support IMU-based IEKF, and also support LiDAR-IMU extrinsic estimation.

Hi, is that means the only difference is you use ikfom ?

[85256638]

Hi dear reviewer, this is a implementation of voxel map, comparing with the original paper and the original repo, this repo support IMU-based IEKF, and also support LiDAR-IMU extrinsic estimation.

Hi, is that means the only difference is you use ikfom ?

@iwander-all

"VoxelMap, Faster-LIO and FAST-LIO2, the three methods use the same IKFoM (Iterated Kalman Filters on Manifolds) framework"

source: Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry Chongjian Yuan12, Wei Xu1, Xiyuan Liu1, Xiaoping Hong2, and Fu Zhang,1