liangheming/FASTLIO2_SAM_LC
FASTLIO2_SAM_LC
fastlio2 with loop closure and online localization
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liangheming
liangheming • individual
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README Summary
主要工作 1. 对原始FASTLIO进行代码重构 2. 建图线程添加GTSAM做回环 3. 添加定位线程用于基于已知地图的重定位 4. 添加首帧重力对齐(用于传感器非水平放置情况) 5. 目前暂时支持MID_360的传感器(买不起其他传感器) 6. 代码结构更加简单，流程逻辑也更加清晰(非常自以为是的评价)
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Updated 2 years ago
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Timeline
- Project created
- —
- Forked
- Apr 3, 2026
- Your last push
- 2 years ago
- Upstream last push
- 2 years ago
- Tracked since
- Jan 30, 2024
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