{"id":13436069,"url":"https://github.com/Gutsgwh1997/CIL-SLAM","last_synced_at":"2025-03-18T12:31:09.808Z","repository":{"id":53516549,"uuid":"355920909","full_name":"Gutsgwh1997/CIL-SLAM","owner":"Gutsgwh1997","description":"An unfinished camera-imu-lidar tightly coupled simultaneous localization and mapping system.","archived":false,"fork":false,"pushed_at":"2021-04-16T01:34:52.000Z","size":990,"stargazers_count":12,"open_issues_count":1,"forks_count":4,"subscribers_count":3,"default_branch":"main","last_synced_at":"2024-10-27T19:01:51.477Z","etag":null,"topics":["slam-algorithms"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Gutsgwh1997.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2021-04-08T13:35:48.000Z","updated_at":"2024-08-03T09:14:57.000Z","dependencies_parsed_at":"2022-09-16T22:50:45.801Z","dependency_job_id":null,"html_url":"https://github.com/Gutsgwh1997/CIL-SLAM","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Gutsgwh1997%2FCIL-SLAM","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Gutsgwh1997%2FCIL-SLAM/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Gutsgwh1997%2FCIL-SLAM/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Gutsgwh1997%2FCIL-SLAM/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Gutsgwh1997","download_url":"https://codeload.github.com/Gutsgwh1997/CIL-SLAM/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":244222253,"owners_count":20418478,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["slam-algorithms"],"created_at":"2024-07-31T03:00:43.115Z","updated_at":"2025-03-18T12:31:09.803Z","avatar_url":"https://github.com/Gutsgwh1997.png","language":"C++","funding_links":[],"categories":["C++"],"sub_categories":[],"readme":"# **CIL-SLAM**\n## 1、工程简介\n\n**cil-slam**是相机-惯性测量单元-雷达紧耦合slam系统的简称，也是我硕士毕业的课题，目前为止完成度不高，要抓紧时间了！总体思想：参考lio-sam以因子图作为后端，添加imu预积分约束（同时高频imu测量辅助点云进行畸变去除和姿态预测）、雷达里程计约束、视觉里程计约束（3D-2D的匹配）。\n\n## 2、视觉部分\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\n以激光雷达帧构成的局部地图补全视觉特征的深度，视觉部分采用点特征以及线特征，前端特征提取与跟踪已经完成。代码上对vins-mono的光流跟踪节点以及Pl-vio的线特征跟踪节点进行了重构，采用ROS与功能类分离的设计，同时也提升了代码的可读性。\n\n光流跟踪效果：\n\n![pointFeatures](doc/image/point_features.png)\n\n线特征匹配效果：\n\n![lineFeatures](doc/image/line_features.png)\n\n\n## 3、参考资源\n\n感谢以下大佬的文章以及开源代码，没有他们的杰出工作，我们去哪搬砖呀：\n\n- [Lio-sam](https://github.com/TixiaoShan/LIO-SAM)，Tixiao Shan小哥真的是年轻有为！\n- [Lego-loam](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM)\n- [Vins-mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono)\n- [Msckf-vio](https://github.com/KumarRobotics/msckf_vio)\n- [Limo](https://ieeexplore.ieee.org/document/8594394)\n- [Pl-vio](https://github.com/HeYijia/PL-VIO)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FGutsgwh1997%2FCIL-SLAM","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FGutsgwh1997%2FCIL-SLAM","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FGutsgwh1997%2FCIL-SLAM/lists"}