This repo implements DLIOM, based on DLIO [repo] | [paper]
- 2-step deskew
- Jaccard-based keyframing
- Slip-resistant keyframing
- Factors
- Sequential Factor
- Connective Factor
- min/max threshold
- Gravity factor
- Loop factor
- GPS factor (unaligned, GTSAM)
- matched with keyframes in case of new
- matched with any keyframe at any time
- Architecture
- separate thread
- tightly coupled with Frontend
Thank you to the original Authors of DLIO; Kenny Chen, Ryan Nemiroff and Brett T. Lopez
@misc{chen2023direct,
title={Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM},
author={Kenny Chen and Ryan Nemiroff and Brett T. Lopez},
year={2023},
eprint={2305.01843},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
@article{chen2022dlio,
title={Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction},
author={Chen, Kenny and Nemiroff, Ryan and Lopez, Brett T},
journal={2023 IEEE International Conference on Robotics and Automation (ICRA)},
year={2023},
pages={3983-3989},
doi={10.1109/ICRA48891.2023.10160508}
}
Please see the original instructions as well.