FAST-LIO, Then Bayesian ICP, Then GTSFM
Robotics
2022-10-06 v2
Abstract
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
Cite
@article{arxiv.2210.00146,
title = {FAST-LIO, Then Bayesian ICP, Then GTSFM},
author = {Jerred Chen and Xiangcheng Hu and Shicong Ma and Jianhao Jiao and Ming Liu and Frank Dellaert},
journal= {arXiv preprint arXiv:2210.00146},
year = {2022}
}
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