VIO子系统中的LiDAR点云重用避免了视觉特征的提取,三角化以及优化,并在测量层面上将两个传感器耦合起来。 本系统实现了开源,可以在Intel或ARM处理器上实时运行,并支持多线旋转激光雷达和具有完全不同扫描模式的新兴固态激光雷达。 在开放数据序列(NTU-VIRAL)和我们定制的设备数据上验证开发的系统。结果表明,该系统能够...
FAST-LIO2具有计算效率高(例如,在大型室外环境中高达100Hz的里程计和建图),鲁棒性强(例如,在旋转高达1000度/秒的杂室内环境中得到可靠的姿态估计),多用途(即适用于多线机械雷达和固态激光雷达,无人机和手持平台,以及基于英特尔和arm的处理器),同时仍然实现比现有方法更高的精度。 将上述改进应用到FAST-LIO中,参...
Since no requirements for feature extraction, FAST-LIO2 can support may types of LiDAR including spinning (Velodyne, Ouster) and solid-state (Livox Avia, Horizon, MID-70) LiDARs, and can be easily extended to support more LiDARs. Support external IMU. Support ARM-based platforms including Khad...
这样我们每有一个模块继承ModuleBase只需要在构造的时候传入配置文件路径即可完成配置的加载。readParam是仿照nh.prarm格式写的,所以可以很容易的通过这个函数读取所需要的参数。 三、FrontEnd模块 我们将在前端模块中完整的实现fast-lio相关的代码,但是在这一章中,我们只需要先对其进行简单的设计。前端模块需要5个接口,...
Support ARM-based platforms including Khadas VIM3, Nivida TX2, Raspberry Pi 4B(8G RAM). Related papers: FAST-LIO2: Fast Direct LiDAR-inertial Odometry FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter ...
Support ARM-based platforms including Khadas VIM3, Nivida TX2, Raspberry Pi 4B(8G RAM). Related papers: FAST-LIO2: Fast Direct LiDAR-inertial Odometry FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter ...
Support ARM-based platforms including Khadas VIM3, Nivida TX2, Raspberry Pi 4B(8G RAM). Related papers: FAST-LIO2: Fast Direct LiDAR-inertial Odometry FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter ...
Support ARM based embeded system including Khadas VIM3, Raspberry 4B (8GB), Nivida TX2. Contributors Wei Xu 徐威,Yixi Cai 蔡逸熙,Dongjiao He 贺冬娇,Fangcheng Zhu 朱方程,Jiarong Lin 林家荣,Zheng Liu 刘政 To know more about the details, please refer to our related paper:) Related papers: ...
Support ARM-based platforms including Khadas VIM3, Nivida TX2, Raspberry Pi 4B(8G RAM). Related papers: FAST-LIO2: Fast Direct LiDAR-inertial Odometry FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter ...
Support ARM-based platforms including Khadas VIM3, Nivida TX2, Raspberry Pi 4B(8G RAM). Related papers: FAST-LIO2: Fast Direct LiDAR-inertial Odometry FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter ...