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HViktorTsoi / PV-LIO

A probabilistic voxelmap-based LiDAR-Inertial Odometry.
GNU General Public License v2.0
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What difference between PV-LIO and VoxelMap? #4

Open qpc001 opened 1 year ago

HViktorTsoi commented 1 year ago

Hi dear reviewer, this is a implementation of voxel map, comparing with the original paper and the original repo, this repo support IMU-based IEKF, and also support LiDAR-IMU extrinsic estimation.

iwander-all commented 7 months ago

Hi dear reviewer, this is a implementation of voxel map, comparing with the original paper and the original repo, this repo support IMU-based IEKF, and also support LiDAR-IMU extrinsic estimation.

Hi, is that means the only difference is you use ikfom ?

85256638 commented 17 hours ago

Hi dear reviewer, this is a implementation of voxel map, comparing with the original paper and the original repo, this repo support IMU-based IEKF, and also support LiDAR-IMU extrinsic estimation.

Hi, is that means the only difference is you use ikfom ?

@iwander-all

"VoxelMap, Faster-LIO and FAST-LIO2, the three methods use the same IKFoM (Iterated Kalman Filters on Manifolds) framework"

source: Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry Chongjian Yuan12, Wei Xu1, Xiyuan Liu1, Xiaoping Hong2, and Fu Zhang,1