FAST_LIO:计算有效且强大的LiDAR惯性里程计(LIO)软件包

上传者: 42117150 | 上传时间: 2023-04-12 23:01:25 | 文件大小: 28.47MB | 文件类型: ZIP
注意:不支持Ubuntu 16.04及更低版本 FAST-LIO 2.0 将于2021年3月底发射。 新的功能: 更快更好 更高的频率; 更多的LiDAR支持(Horizo​​n和Ouster 64); 支持基于ARM的嵌入式平台。 FAST-LIO FAST-LIO (快速LiDAR惯性里程计)是一种计算效率高且功能强大的LiDAR惯性里程计套件。它使用紧密耦合的迭代扩展卡尔曼滤波器将LiDAR特征点与IMU数据融合在一起,从而在发生退化的快速运动,嘈杂或混乱的环境中实现强大的导航能力。我们的软件包解决了许多关键问题: 快速迭代的卡尔曼滤波器,用于里程计优化; 在最稳定的环境下自动初始化; 并行KD-Tree搜索以减少计算量; 强大的特征提取; 开发者 :激光贴图和姿势优化; :特征提取。 要了解更多详细信息,请参阅我们的相关文章:) 我们的相关论文:现在可以在arxiv上获得我

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