FAST_LIO

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Hi there,

First of all thank you so much for the amazing framework you have provided.

I have a question. If Fast Lio drifts or loses knowledge of its position completely, what would be the needed steps to recover/reset the algorithm such that, when it finds back a stable position it could keep going.

For example, the robot comes into a degenerative environment (long hallway with long empty walls), it looses knowledge about the position in one axis, however suddenly enough features appear and it can find back a stable position. What would be the steps to reinitialize/reset/recover the algorithm to keep using it again without turning off and on the robot completely.

Thank you in advance! I am curious if someone already has build such solution or has thought about it.