FAST_LIO
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hku-mars
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
According to paper, a distort point is projected by extrinsic, relative pose and the inverse of extrinsic. But in the code `IMU_Processing.hpp` `320-324` ``` V3D P_i(it_pcl->x, it_pcl->y, it_pcl->z); V3D T_ei(pos_imu...
Thanks for your brilliant work. After switching to ikfom, the function _df_dx_ and _df_dw_ in use-ikfom.hpp **line 52** and **line 71** have changed. However, due to the lack of relevant...
Thank you for sharing such amazing work. I created the environment by looking at README.md. 4.1 Livox Avia Rosbag worked fine, but 4.2 Velodyne HDL-32E Rosbag "20130110.bag" did not show...
Hi, I use the latest code (dcc38885ac80adf3eb91028fb7f9834573ec7464), and my device is calibrated by `lidar_align`, and has well time synchronization. The algorithm run very well in outdoor scene. But when I...
徐博士： dji 的livox horizon设置我这边已经全部完成，这几天想搞一个velodyne 16线的 外置一个IMU ，然后参照GEOSLAM HORIZON的技术方案，给他配个旋转，不知道您试过这个方案了吗？ 技术上有可行性吗？ IMU的选择，可以提供一些参考吗？
Hey, I was wondering if it would be possible at all to have some parameters like voxel size for example change dynamically, let's say you scan inside with lower voxel...
Hello, Thanks for sharing such amazing work. I wanted to know is it possible to map rgb photo with the generated map by Fast Lio 2. I did the extrinsic...
Can I use livox converter 2.0 which has input between 9 and 30V for livox mix 100? Beacuse with mid-100 cames livox converer 1.0 which supplyes from 10-15 v. I...
Dear. Author, recently I have been trying to calibrate a livox mid70 and an external IMU, but I couldn't find a suitable algorithm to achieve that goal. Now I have...
Thanks for sharing your great work! Description: I have tested FAST_LIO on utbm[https://github.com/epan-utbm/utbm_robocar_dataset](url) dataset recently. Most of time, it produces an accurate odometry. But on the utbm_2019_04_18(Roundabout) data, it suffers...
