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JokerJohn / FL2SAM_GPS

large-scale mapping system based on FAST-LIO2 and GNSS for Outdoor environment
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The performance campared to LIO-SAM-6AXIS #1

Open lhthq opened 2 years ago

lhthq commented 2 years ago

hi ! great work! I want to konw that the FL2SAM_GPS performance compared to your previous work LIO-SAM-6AXIS. And when the FL2SAM_GPS code will open. THANK YOU!

JokerJohn commented 2 years ago

hi ! great work! I want to konw that the FL2SAM_GPS performance compared to your previous work LIO-SAM-6AXIS. And when the FL2SAM_GPS code will open. THANK YOU!

The FL2SAM-GPS system is only based on the current SOTA work of FAST-LIO2, and migrates the LOOP and GPS modules of LIOSAM_6AXIS. we try to achieve a good accuracy of the whole system, at least it can be used for outdoor unmanned vehicle positioning, which is a relatively engineering application. We validated the accuracy of the FL2SAM system in the ICRA 2022 HILTI SLAM CHALLENGE competition, placing ninth place out of over forty teams. Because of the introduction of GPS, the system needs to be repeatedly debugged and verified on different GPS datasets. once we finished it, we will open source the code ASAP.

JokerJohn commented 2 years ago

hi ! great work! I want to konw that the FL2SAM_GPS performance compared to your previous work LIO-SAM-6AXIS. And when the FL2SAM_GPS code will open. THANK YOU!

The accuracy of FL2SAM can refer to the report here. There is no accuracy evaluation for FL2SAM-GPS at present. We will show its effect on our own data and compare it with LIOSAM-6AXIS. hilti challengel leader-board-2022

weixiaopassking commented 1 year ago

great work! Can you open up the now codes for reference ? thanks , best wish for you