1.LIO坐标系与ENU系外参的标定:机器人在运动时,GNSS+IMU构成一个里程计,LIO算法也有一个里程计,将两段轨迹进行对齐(ceres最小二乘优化),优化的结果便是LIO坐标系与ENU系之间的外参。另一个比较naive的做法是将lio初始化阶段的磁力计的读数直接作为LIO系与ENU系外参中的旋转,不过根据我们测试的效果来说还是不是...
docker build -t liosam-kinetic-xenial . Once you have the image, start a container as follows: docker run --init -it -d \ -v /etc/localtime:/etc/localtime:ro \ -v /etc/timezone:/etc/timezone:ro \ -v /tmp/.X11-unix:/tmp/.X11-unix \ -e DISPLAY=$DISPLAY \ liosam-kinetic...
LIO_SAM_6AXIS includes the following features: Support for a 6-axis IMU: This allows you to use orientation information in state estimation, improving the accuracy of your results. Support for low-cost GNSS: By eliminating the need to adapt for the robot_localization node, this feature makes...
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Related paper and codes: GNSS data handling part refers toFAST_LIO_SAM. Wheel fusion part refers toVehicle-Motion-Constraint-Based Visual-Inertial-Odometer Fusion With Online Extrinsic Calibration. If you'd like to use this wheel fusion part of this package for academic research please cite this...
An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mappi
Related paper and codes: GNSS data handling part refers to FAST_LIO_SAM. Wheel fusion part refers to Vehicle-Motion-Constraint-Based Visual-Inertial-Odometer Fusion With Online Extrinsic Calibration. If you'd like to use this wheel fusion part of this package for academic research please cite th...
An efficient and robust multisensor-aided inertial navigation system with online calibration that is capable of fusing IMU, camera, LiDAR, GPS/GNSS, and wheel sensors. Use cases: VINS/VIO, GPS-INS, LINS/LIO, multi-sensor fusion for localization and mappi
LIO_SAM_6AXIS includes the following features: Support for a 6-axis IMU: This allows you to use orientation information in state estimation, improving the accuracy of your results. Support for low-cost GNSS: By eliminating the need to adapt for the robot_localization node, this feature makes...