2022/10/01 by Chen, Jerred, Hu, Xiangcheng, Ma, Shicong +3
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2210.00146
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