Using GPS:The park dataset is provided for testing LIO-SAM with GPS data. This dataset is gathered byYewei Huang. To enable the GPS function, change "gpsTopic" in "params.yaml" to "odometry/gps". In Rviz, uncheck "Map (cloud)" and check "Map (global)". Also check "Odom GPS", ...
3. 适配KITTI数据集到LIO-SAM的输入格式 由于LIO-SAM对点云数据的格式有特定要求(包括XYZIRT信息),你需要使用kitti2bag工具将KITTI数据集转换为LIO-SAM可以识别的格式。 你可以按照以下步骤使用kitti2bag工具: bash # 假设你已经下载了KITTI数据集并解压到了某个目录下 cd /path/to/kitti/dataset # 下载kitti2...
importosimportshutil# 创建数据集目录os.makedirs('dataset/train')os.makedirs('dataset/val')os.makedirs('dataset/test')# 将数据划分为训练集、验证集和测试集train_ratio=0.7val_ratio=0.2test_ratio=0.1forfilenameinos.listdir('data'):source_path=os.path.join('data',filename)iffilename.startswith(...
2 Due to the limited time, we did not tuned faster-lio for other LIO-SAM's datasets. According to your video, it seems something goes wrong with the bias of the accelerometer, not sure yet. Hello, A tiny problem in the paper. The distance of campus_small_dataset.bag is only ~0.55km...
Using GPS:The park dataset is provided for testing LIO-SAM with GPS data. This dataset is gathered byYewei Huang. To enable the GPS function, change "gpsTopic" in "params.yaml" to "odometry/gps". In Rviz, uncheck "Map (cloud)" and check "Map (global)". Also check "Odom GPS", ...
【Code】TixiaoShan/LIO-SAM 【Dataset】百度网盘:https://pan.baidu.com/s/1ezIFR25NRhCVmeCIDfi2Bg提取码:8ko1 0.摘要 Abstract 提出一种紧耦合的平滑建图激光惯导里程计框架,LIO-SAM,完成高准确度、实时的移动机器人轨迹估计和地图构建。LIO-SAM在因子图上制定了一个激光惯导里程计,允许许多相对和绝对测量...
py# 新开终端cdSimple-LIO-SAM ./docker_into.shcddata/ros2/ ros2 bag play ./park_dataset/ -...
walking_dataset garden_dataset 环境部署gitclonegit@github.com:zeal-up/Simple-LIO-SAM.git cdSimple-LIO-SAM ./docker_run.sh -h# show help message ./docker_run.sh -c /path/to/code/repo -d$DATA_DIR # ./docker_into.sh # enter the container next time ...
A. Rotation Dataset 在此测试中,当仅将IMU预积分和激光雷达测距因子添加到因子图中时,我们专注于评估框架的鲁棒性。旋转数据集是由拿着传感器套件并在静止不动的情况下执行一系列剧烈旋转操作的用户收集的。该测试中遇到的最大转速为133.7度/秒。图3(a)中显示了填充有结构的测试环境。从LOAM和LIO-SAM获得的图显...
walking_dataset garden_dataset 环境部署 git clone git@github.com:zeal-up/Simple-LIO-SAM.gitcdSimple-LIO-SAM ./docker_run.sh -h#show help message./docker_run.sh -c /path/to/code/repo -d$DATA_DIR#./docker_into.sh # enter the container next time ...