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hku-mars / MARSIM

MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs
GNU General Public License v2.0
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SLAM Algorithm used for Clouds used in MARSIM #2

Closed satyajitghana closed 1 year ago

satyajitghana commented 2 years ago

Hi,

The Points Clouds used in this project https://www.youtube.com/watch?v=hiRtcq-5lN0 look very clean and sharp. Which device was used to create these clouds? and which SLAM algorithm?

jackykongfz commented 2 years ago

We used a Livox AVIA LiDAR to scan the environment. FASTLIO2 and large-scale bundle adjustment algorithms are used to build the point cloud maps. Later I will provide a tutorial to construct a realistic point cloud map. You can see some details of the implementation in the paper which is now available on Arxiv: https://arxiv.org/abs/2211.10716