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hku-mars / FAST-LIVO2

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
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Hardware used for HKisland01 dataset #6

Closed gc625 closed 1 month ago

gc625 commented 1 month ago

Hi, I was wondering what was the hardware model (camera, gnss, rtk) used to collect data for the HKisland01 aerial dataset?

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xuankuzcr commented 1 month ago

Thank you for your attention. You can refer to our previous work, "MARS-LVIG dataset: A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion". This dataset includes a Hikvision CA-050-11UC global-shutter RGB camera equipped with a 5 mm lens. The u-blox ZED-F9P receiver is used to receive raw GNSS measurements, and the RTK receiver is from the DJI M300 RTK UAV.

gc625 commented 1 month ago

Thanks for the quick response! Since there is gps/rtk hardware, is there any integration done with the system to georeference the resulting slam?

xuankuzcr commented 1 month ago

Currently, our system focuses on LiDAR-Inertial-Visual fusion. The RTK/GPS is used only for ground truth evaluation.