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hku-mars / FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package
GNU General Public License v2.0
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Is it possible to keep updating from an existing map? #257

Closed student-petercai closed 1 year ago

student-petercai commented 1 year ago

Hi,

If I already have a PCD map built from FAST_LIO, is it possible for me to continue doing SLAM and update this map? Thanks!

Ecstasy-EC commented 1 year ago

Yes. You might use the build function of ikdTree at the initialization to insert the pcd point clouds to the map. But remember to provide the correct initial odometry for correct point registration.

stale[bot] commented 1 year ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.