arXiv:2210.00146
FAST-LIO, Then Bayesian ICP, Then GTSFM
FAST-LIO, Then Bayesian ICP, Then GTSFM
著者: Jerred Chen, Xiangcheng Hu, Shicong Ma, Jianhao Jiao, Ming Liu, Frank Dellaert
分類: cs.RO
原文アブストラクト
For the Hilti Challenge 2022, we created two systems, one building upon the other. The first system is FL2BIPS which utilizes the iEKF algorithm FAST-LIO2 and Bayesian ICP PoseSLAM, whereas the second system is GTSFM, a structure from motion pipeline with factor graph backend optimization powered by GTSAM