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LVI-SAM超详细注释与配套

-by 计算机视觉life 旗下 SLAM知识星球学习小组

参与人员（排名不分先后）：

荆黎明（东北大学）、刘嘉林（复旦大学）、汪寿安（**矿业大学北京）、万文俊（中科院计算所）、周新杰（哈工大）、乔生（吉林大学）、刘嘉荣（上海交通大学）

一、我们的贡献

  1. 为源代码提供了详细的中文注释
  2. 制作了docker镜像，可节约本地环境配置时间
  3. 录制了校园内的实际数据集并开放
  4. 在更多数据集上的验证可行性

二、docker环境链接

LVI-SAM学习小组docker v1.2使用图文简洁介绍

docker镜像已上传docker-hub，可以拉取镜像按照教程使用节约环境配置的时间 拉取镜像的命令：docker pull liangjinli/slam-docker:v1.2

三、学习小组录制LVI-SAM数据集

链接:https://pan.baidu.com/s/1e5UhbLfnJE28wVy1l1Rc3w?fm=lk0 提取码:x5xi

百度网盘里存有80G的bag包，bag包的使用说明见此仓库的README

采集设备

建图效果

四、在M2DGR数据集上演示

五、学习小组分享顺序

  1. LVI-SAM英文论文精读
  2. 简单捋一遍LOAM到LVI-SAM的方法跃迁
  3. visual_feature + featureExtraction ，横向对比视觉和雷达的提取特征思路上的异同
  4. imuPreintergation.cpp，结合imu预积分的原理推导和代码讲解
  5. visual_estimator ，视觉里程计部分
  6. imageProjection.cpp ，激光雷达数据去畸变
  7. mapOptmization ，因子图优化
  8. visual_loop ，视觉回环模块
  9. 回顾盘点，理清系统的数据流动，节点之间的关系和总览

视频和课件分享见 cvlife.net

六、中文代码注释

中文注释的代码已全部上传

期待反馈当前注释存在的问题！

七、LVI-SAM 原仓库链接

https://github.com/TixiaoShan/LVI-SAM

lvi-sam_detailed_comments's People

Contributors

adthoms avatar electech6 avatar liang-jinli avatar liming-jing avatar shuttworth avatar skyrim835 avatar tixiaoshan avatar

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