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RuanJY / SLAMesh

ICRA2023, A real-time LiDAR simultaneous localization and meshing method.
GNU General Public License v3.0
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Is there an advanced version? #2

Closed chengwei0427 closed 1 year ago

chengwei0427 commented 1 year ago

Hi， @RuanJY Thanks for your nice work! I'm curious is there an advanced version that fusion with imu? There is no distortion correction in the code, and distortion can greatly affect accuracy, right?

RuanJY commented 1 year ago

You read the code so quickly. I may update a version with imu tightly coupled in the future.

You are right, and I will add a linear distortion if no IMU is available. Kitti dataset is already un-distorted, so it doesn't matter.

Many thing to do

chengwei0427 commented 1 year ago

Hi， Dr. Ruan, Nice work! I've added a simple distortion to your code, the effect should be improved. But I'm not sure the final trajectory matches reality，the Video is here.

RuanJY commented 1 year ago

Woo! If you like, you are welcome to make a push request.

发件人: chengwei @.> 发送时间: 2023年8月23日 17:37 收件人: RuanJY/SLAMesh @.> 抄送: RUAN, Jianyuan [Student] @.>; Mention @.> 主题: Re: [RuanJY/SLAMesh] Is there an advanced version? (Issue #2)

Hi， Dr. Ruan, Nice work! I've added a simple distortion to your code, the effect should be improved. But I'm not sure the final trajectory matches reality，the Video is herehttps://www.bilibili.com/video/BV1ZF411C7Gr/?spm_id_from=333.999.0.0&vd_source=438f630fe29bd5049b24c7f05b1bcaa3.

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chengwei0427 commented 1 year ago

Hi, Dr. Ruan, I'd like to make a push request, but there is too much change, maybe not what you want. A lot of codes were removed to make the program work. Maybe I can send you a copy of the code, and you can see if it's necessary to make a push request.

chengwei0427 commented 1 year ago

Is this email "jianyuan.ruan@connect.polyu.hk" available? I'll send you a copy of the code .

RuanJY commented 1 year ago

yes, off course

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From: chengwei @.> Sent: Thursday, August 24, 2023 5:36:25 PM To: RuanJY/SLAMesh @.> Cc: RUAN, Jianyuan [Student] @.>; Mention @.> Subject: Re: [RuanJY/SLAMesh] Is there an advanced version? (Issue #2)

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chengwei0427 commented 1 year ago

An email named SLAMesh with ESKF is sent to your mail.