• Stars
    star
    145
  • Rank 254,144 (Top 6 %)
  • Language
    C++
  • Created over 2 years ago
  • Updated 6 months ago

Reviews

There are no reviews yet. Be the first to send feedback to the community and the maintainers!

Repository Details

FAST_LIO2_Noted 中文注释版

FAST_LIO2_Noted

中文注释说明

本项目是基于FAST_LIO_SLAM项目扩展来的,主要讲述了Fast-LIO2主程序代码、esikf更新代码和ikd-tree算法,因此基于自己的理解和思考,在代码里做了相关的中文注释。注释部分难免有误,欢迎大家批评指正。

News

  • Aug 2021: The Livox-lidar tests and corresponding launch files will be uploaded soon. Currenty only Ouster lidar tutorial videos had been made.

What is FAST_LIO_SLAM?

Integration of

  1. FAST-LIO2 (Odometry): A computationally efficient and robust LiDAR-inertial odometry (LIO) package
  2. SC-PGO (Loop detection and Pose-graph Optimization): Scan Context-based Loop detection and GTSAM-based Pose-graph optimization

Features

  • An easy-to-use plug-and-play LiDAR SLAM
    • FAST-LIO2 and SC-PGO run separately (see below How to use? tab).
    • SC-PGO takes odometry and lidar point cloud topics from the FAST-LIO2 node.
    • Finally, an optimized map is made within the SC-PGO node.

How to use?

  • The below commands and the launch files are made for playing the MulRan dataset, but applicable for livox lidars in the same way (you could easily make your own launch files).
    # terminal 1: run FAST-LIO2 
    mkdir -p ~/catkin_fastlio_slam/src
    cd ~/catkin_fastlio_slam/src
    git clone https://github.com/gisbi-kim/FAST_LIO_SLAM.git
    git clone https://github.com/Livox-SDK/livox_ros_driver
    cd .. 
    catkin_make
    source devel/setup.bash
    roslaunch fast_lio mapping_ouster64_mulran.launch # setting for MulRan dataset 

    # open the other terminal tab: run SC-PGO
    cd ~/catkin_fastlio_slam
    source devel/setup.bash
    roslaunch aloam_velodyne fastlio_ouster64.launch # setting for MulRan dataset 

    # open the other terminal tab
    # run file_player_mulran (for the details, refer here https://github.com/irapkaist/file_player_mulran)

Utility

  • We support keyframe scan saver (as in .pcd) and provide a script reconstructs a point cloud map by merging the saved scans using the optimized poses. See here.

Example results

Acknowledgements

More Repositories

1

Bilibili-Live-API

BILIBILI 直播/番剧 API
1,213
star
2

Shadowsocks-Hosts-or-V2ray

利用 hosts 、 Shadowsocks (影梭)、V2ray科学上网
Python
749
star
3

Halcon_licenses

Halcon licenses activation
676
star
4

SmartCar

使用ssd+mobilenetv2轻量化网络实现的智能小车垃圾分类(jetson nano下能达到10fps+)
Python
131
star
5

Pixiv-Host

PIXIV修改Host
C#
127
star
6

Halcon_Project

Halcon基础操作
48
star
7

ROS-ROS2-BOOKS

从ROS1到ROS2无人机编程实战指南
C
45
star
8

direct_lidar_inertial_odometry-noted

DLIO(direct_lidar_inertial_odometry)代码详解
C++
30
star
9

LOON

JavaScript
27
star
10

SC-LEGO-LOAM

针对sc lego loam的代码详细解读以及测试
C++
24
star
11

pytorch_example

一个关于pytorch实现深度学习模型的模板
Python
14
star
12

bilibili-strom-catcher

比较久之前的storm获取
Python
11
star
13

WaterCompetition_HK

国际香港水下机器人,海康威视摄像头分析
C#
11
star
14

present

b站(BILIBILI)抢新年礼物插件
Python
10
star
15

IP_Pool

获取IP代理池
Python
8
star
16

OpenCV-Graphic-color-mixed-recognition

For example, triangle、polygon and make them color matching(opencv3.4颜色形状匹配)
C++
7
star
17

Chinese_Notes

一些整理的比较杂的文档,主要和ROS与slam相关
7
star
18

douyin_python

抖音python获取直播间信息
JavaScript
7
star
19

NJIT_NET

南京工程学院校园网自动登录
Python
6
star
20

serialport

易语言串口通讯
5
star
21

lovelyyoshino.github.io

HTML
4
star
22

CSR_GLM

CSR 团队 GLM大模型
Python
4
star
23

Realsense-multi

基于ROS的多Realsence传感器读取
C++
3
star
24

cartographer-noted

详细的代码注释
C++
3
star
25

E-PUCK-webots

E-puck模拟仿真
C
2
star
26

RHACrackNet

A lightweight model segmentation software based on RHACrackNet
Python
2
star
27

GPT_voice_AGV

want to use voice to make GPT understand chaotic message and generate order to AGV robot
Python
2
star
28

maplab2.0-note

在努力理解这个框架中,缓更
C++
1
star
29

Turing_communication

基于ROS的使用图灵机器人进行的语音问答以及对话控制
C
1
star
30

Socket

C语言 开辟客户端接口,以便ROS调用
C
1
star
31

SlamEnvironment

Install commonly used SLAM environment with one click. Such as ceres、eigen、opencv、gtsam
Shell
1
star