FAST-LIO, Then Bayesian ICP, Then GTSFM

Frank Dellaert; Jerred Chen; Jianhao Jiao; Ming Liu; Shicong Ma; Xiangcheng Hu

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FAST-LIO, Then Bayesian ICP, Then GTSFM

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arxiv 2210.00146 v2 pith:7NZWZV2K submitted 2022-10-01 cs.RO

Jerred Chen , Xiangcheng Hu , Shicong Ma , Jianhao Jiao , Ming Liu , Frank Dellaert This is my paper · ORCID

classification cs.RO

keywords bayesiangtsfmsystemthenalgorithmbackendbuildingchallenge

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For the Hilti Challenge 2022, we created two systems, one building upon the other. The first system is FL2BIPS which utilizes the iEKF algorithm FAST-LIO2 and Bayesian ICP PoseSLAM, whereas the second system is GTSFM, a structure from motion pipeline with factor graph backend optimization powered by GTSAM

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