Modification

• enable LIVOX AVIA

• enable 6-axis livox IMU

  • give initial orientation according to instant acceleration and gravity (could be further improved)

• unify extrinsic parameter

EDGE-TRACKER

This repository contains code for a lidar-visual-inertial odometry and mapping system, which combines the advantages of

Dependency

• ROS (Tested with kinetic and melodic)

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Compile

You can use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone https://github.com/
cd ..
catkin_make

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Datasets

The datasets used in the paper can be downloaded from Google Drive. The data-gathering sensor suite includes: Velodyne VLP-16 lidar, FLIR BFS-U3-04S2M-CS camera, MicroStrain 3DM-GX5-25 IMU, and Reach RS+ GPS.

https://drive.google.com/drive/folders/1q2NZnsgNmezFemoxhHnrDnp1JV_bqrgV?usp=sharing

Note that the images in the provided bag files are in compressed format. So a decompression command is added at the last line of launch/module_sam.launch. If your own bag records the raw image data, please comment this line out.

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Run the package

1. Configure parameters:

Configure sensor parameters in the .yaml files in the ```config``` folder.

2. Run the launch file:

roslaunch edge_tracker run_livox.launch

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Related Packages

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TODO

• Update graph optimization using all three factors in imuPreintegration.cpp, simplify mapOptimization.cpp, increase system stability

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Paper

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Acknowledgement

• The lidar-inertial odometry module is adapted from LIO-SAM.