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hyye / lio-mapping

Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)
https://sites.google.com/view/lio-mapping
GNU General Public License v3.0
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this mehtod can named tight couple method ??? #83

Closed chennuo0125-HIT closed 6 months ago

chennuo0125-HIT commented 2 years ago

from the paper provided by readme, i found state to optimized just has (p v q ba bg), no environment feature. should include feature in state in couple method ???

zhh2005757 commented 1 year ago

from the paper provided by readme, i found state to optimized just has (p v q ba bg), no environment feature. should include feature in state in couple method ???

lio-sam seems more loosely coupled than this, but they named tightly coupled too😂

hyye commented 6 months ago

from the paper provided by readme, i found state to optimized just has (p v q ba bg), no environment feature. should include feature in state in couple method ???

Well, both the 3D features and IMU measurements are considered in the optimizer. Following the definition in page 20 (https://rpg.ifi.uzh.ch/docs/teaching/2019/13_visual_inertial_fusion.pdf)[13_visual_inertial_fusion.pdf], it can be considered as a tightly-coupled method without involving the feature states directly in the optimizer. The map would still be updated in the odometry module. Hope this clarifies your concern.