SR-LIVO 摘要翻译:现有的激光雷达惯性视觉里程计和地图(LIV-SLAM)系统主要利用激光雷达惯性里程计(LIO)模块进行地图结构重建,并利用视觉惯性里程计(VIO)模块进行颜色渲染并细化位姿。然而,与更强大的 LIO 不同,VIO 的准确性经常受到光度变化、弱纹理和运动模糊的影响。本文介绍了 SR-LIVO,该系统采用扫描重建来将重建...
开源代码:https://github.com/ZikangYuan/sr_livo 现有的LiDAR -惯性-视觉里程计与建图(LIV-SLAM)系统主要利用LiDAR -惯性里程计(LIO)模块进行结构重建,利用视觉-惯性里程计(VIO)模块进行色彩渲染。然而,VIO的精度往往受到光度变化、弱纹理和运动模糊的影响,而不是像LIO那样具有更强的鲁棒性。本文介绍的SR - LI...
A LiDAR-inertial-visual odometry and mapping system based on the sweep reconstruction method - sr_livo/README.md at main · ezhangle/sr_livo
[RA-L 2024] A LiDAR-inertial-visual odometry and mapping system based on the sweep reconstruction method - sr_livo/src/eskfEstimator.cpp at main · ZikangYuan/sr_livo
开源代码:https://github.com/ZikangYuan/sr_livo 现有的LiDAR -惯性-视觉里程计与建图( LIV-SLAM )系统主要利用LiDAR -惯性里程计( LIO )模块进行结构重建,利用视觉-惯性里程计( VIO )模块进行色彩渲染。然而,VIO的精度往往受到光度变化、弱纹理和运动模糊的影响,而不是像LIO那样具有更强的鲁棒性。本文介绍的...
[RA-L 2024] A LiDAR-inertial-visual odometry and mapping system based on the sweep reconstruction method - sr_livo/src/rgbMapTracker.cpp at main · ZikangYuan/sr_livo
Breadcrumbs sr_livo /src / cloudMap.cppTop File metadata and controls Code Blame 100 lines (79 loc) · 2.23 KB Raw #include "cloudMap.h" cv::RNG g_rng = cv::RNG(0); rgbPoint::rgbPoint(const Eigen::Vector3d &position_) { position = position_.cast<float>(); reset(); } void...
SR-LIVO (LiDAR-Inertial-Visual Odometry and Mapping System with Sweep Reconstruction) is designed based on the framework of R3Live. We employ the sweep reconstruction method to align reconstructed sweeps with image timestamps. This allows the LIO module to accurately determine states at all imaging...