FAST-LIO2比其他最先进的激光雷达惯性导航系统低得多的计算量实现了持续更高的精度,在小视场的固态激光雷达上也进行了各种真实世环境的实验,总体而言,FAST-LIO2计算效率高,鲁棒性强,多功能,同时仍能实现比现有方法更高的精度,FAST-LIO2和数据结构kd树的实现都是在Github上开源了。 https://github.com/hku-mars/...
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^abhttps://github.com/hku-mars/FAST_LIO/tree/ROS2 ^plugin添加https://zhuanlan.zhihu.com/p/39390512 ^如何保存地图https://github.com/Ericsii/FAST_LIO_ROS2/issues/11 ^abmid360https://github.com/Livox-SDK/livox_ros_driver2 ^https://github.com/Ericsii/livox_ros_driver2/tree/feature/use-...
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https://github.com/hku-mars/FAST_LIOgithub.com/hku-mars/FAST_LIO FAST-LIO,FAST-LIO2与FASTER-LIO - 古月居www.guyuehome.com/38613 综述 由于在ikd-tree上计算效率的提高,我们直接将原始点配准到地图上,这使得帧间配准即使是在剧烈的运动和非常混乱的环境中也准确可靠。我们称这种基于原始点的配准...
cd srcgit clone https://github.com/hku-mars/FAST_LIO.git cd FAST_LIO git submodule update --init cd ../.. catkin_make source devel/setup.bash 提示:同样的,这里的source如果你不想之后每次都source,就去主目录的.bashrc文件加上 1.3 到这里你就会发现,你的编译不通过嘿嘿~~ ...
我们在Github上开源了FAST-LIO2和ikd-树的数据结构算法实现。 关键词:激光雷达惯性里程计,紧耦合迭代卡尔曼滤波,ikd-树 1 引言 构建未知区域的稠密三维(3D)地图环境的实时性,同时在地图中定位(即SLAM)对于自主机器人在未知环境中的安全导航至关重要。定位提供了机器人车载控制器的状态反馈,同时,稠密的3D地图提供...
fastlio2的源码通常托管在GitHub等代码托管平台上。根据提供的参考信息,fastlio2的源码可以在以下GitHub仓库中找到:https://github.com/kahowang/FAST_LIO_SAM。 下载或克隆fastlio2的源码: 你可以通过Git命令克隆该仓库到本地,以便进行后续的浏览、编译和运行。具体的克隆命令如下: bash git clone https://github...
Our implementation of the system FAST-LIO2 and the data structure ikd-Tree are both open-sourced on Github.Wei XuYixi CaiDongjiao HeJiarong LinFu ZhangRobotics, IEEE Trans. on (T-RO)
#include "tgrs.h" #include "tictoc.hpp" void TGRS::mergeClusters(std::vector<int>& clusterIdxs_, const int& idx1_, const int& idx2_){ for(int i = 0; i < clusterIdxs_.size(); i++){ if(clusterIdxs_[i] == idx1_){ clusterIdxs_[i] = idx2_; } } } std::vector<...