Awesome
lvio_fusion
Introduction
A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method, which focus on the complex environment of vehicles.
Here is the paper.
@misc{jia2021lviofusion,
title={Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method},
author={Yupeng Jia and Haiyong Luo and Fang Zhao and Guanlin Jiang and Yuhang Li and Jiaquan Yan and Zhuqing Jiang},
year={2021},
eprint={2106.06783},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
Dependencies
- ros (Kinetic/Melodic/Noetic)
- Eigen3
- Sophus
- opencv
- pcl
- ceres-solver
- libgeographic-dev
Usage
Complie:
catkin_make
Run:
source devel/setup.bash
roslaunch lvio_fusion_node kitti.launch
Result
kitti: To generate rosbags using KITTI raw data, you can use the script in lio-sam and the configuration file kitti2.yaml