search

vectr-ucla / direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.
MIT License
576 stars 115 forks source link

keyframe-based loop closure in paper #7

Closed michael-sz closed 1 year ago

michael-sz commented 1 year ago

great job! thanks for sharing!

  1. when i read the paper, i found the part of loop closure, but not found during the code . will it be released in future?
  2. if add gps positon as prior factor, the way of lio-sam based on gtsam will be better?
kennyjchen commented 1 year ago

Ah, unfortunately that section is from a follow-up paper (DLIOM) and not from the DLIO paper. We currently have no plans to release that algorithm as of right now. If you do happen to improve on the current DLIO code with a factor graph, I would imagine GPS can only help (assuming it's accurate and properly coded). Let me know how it goes.

michael-sz commented 1 year ago

got it, thanks for reply. And if as you convenience , please show me the main distinction between dlio and dilom ,thanks.

kennyjchen commented 1 year ago

tl;dr --