Simple, Accurate, and Robust Registration If Done the Right Way}}, journal = {IEEE Robotics and Automation Letters (RA-L)}, pages = {1029--1036}, doi = {10.1109/LRA.2023.3236571}, volume = {8}, number = {2}, year = {2023}, codeurl = {https://github.com/PRBonn/kiss-icp}, ...
(RA-L)" url: https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf codeurl: https://github.com/PRBonn/kiss-icp authors: - family-names: Vizzo given-names: Ignacio - family-names: Guadagnino given-names: Tiziano - family-names: Mersch given-names: Benedikt - ...
A LiDAR odometry pipeline that just works. Contribute to PRBonn/kiss-icp development by creating an account on GitHub.
A LiDAR odometry pipeline that just works. Contribute to PRBonn/kiss-icp development by creating an account on GitHub.
代码:https://github.com/PRBonn/kiss-icp 一、文章概述 1.问题导向 SLAM系统经过长久的发展,系统变得越来越复杂,拥有许多参数需要调整,同时新型的激光雷达使得很多里程计不再适用。 2.目标 我们的设计既不使用复杂的特征提取技术、学习方法,也...
Registry index for crates.io. Contribute to rust-lang/crates.io-index development by creating an account on GitHub.
Merge remote-tracking branch 'github/main' into AUTO-2216_expose_ros_… … 6947e8e Add odometry covariance to ros node (#283) … Verified f1dc4c9 pre-commit b413934 Expose number of icp iterations in ros (#292) … Verified 916d84d nachovizzo changed the title Improve ros parame...
代码:github.com/PRBonn/kiss- 1 动机与贡献 现有很多LiDAR里程计都依赖于某种形式的ICP估计帧间位姿,例如CT-ICP, LOAM等。现有的系统设计需要对机器人的运动(CT-ICP)和环境的结构(LeGO-LOAM)有一些特定的假设。而且几乎没有系统能够不需要调参(例如特征提取、面特征拟合、法向量估计、畸变矫正)就能用于不同的场...
其同步公开了源码Github kiss-icp,star数已达到1.2k,看来确实够好用。 整体框架 问题定义:给定3D激光雷达扫描帧P={pi∣pi∈R3},即表达在激光雷达坐标系的点云,目标是计算此扫描帧时刻t对应的激光雷达全局位姿Tt∈SE(3)。 KISS-ICP取名意思是keep It Small and Simple,也就是尽可能让算法流程简易化,其实就是...
I would like to change the sequence parameter to a str instead of an int. This allows more flexibility when, for example, using a dataset like HeliPR (dataloader coming soon): Here, there are four...