CIL-SLAM:未完成的相机-IMU-激光雷达紧密耦合的同时定位和制图系统

上传者: 42097819 | 上传时间: 2023-03-28 16:02:25 | 文件大小: 994KB | 文件类型: ZIP
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CIL-SLAM 1、工程简介 cil-slam是相机-惯性测量单元-雷达紧耦合slam系统的简称,也是我硕士毕业的课题,目前为止完成度不高,要抓紧时间了!总体思想:参考lio-sam以因子图作为后端,添加imu预积分约束(同时高频imu测量辅助点云进行畸变去除和姿态预测)、雷达里程计约束、视觉里程计约束(3D-2D的匹配)。 2、视觉部分 以激光雷达帧构成的局部地图补全视觉特征的深度,视觉部分采用点特征以及线特征,前端特征提取与跟踪已经完成。代码上对vins-mono的光流跟踪节点以及Pl-vio的线特征跟踪节点进行了重构,采用ROS与功能类分离的设计,同时也提升了代码的可读性。 光流跟踪效果: 线特征匹配效果: 3、参考资源 感谢以下大佬的文章以及开源代码,没有他们的杰出工作,我们去哪搬砖呀: ,Tixiao Shan小哥真的是年轻有为!

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