https://github.com/Gutsgwh1997/CIL-SLAM

An unfinished camera-imu-lidar tightly coupled simultaneous localization and mapping system.
https://github.com/Gutsgwh1997/CIL-SLAM

slam-algorithms

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An unfinished camera-imu-lidar tightly coupled simultaneous localization and mapping system.

• Host: GitHub
• URL: https://github.com/Gutsgwh1997/CIL-SLAM
• Owner: Gutsgwh1997
• Created: 2021-04-08T13:35:48.000Z (about 5 years ago)
• Default Branch: main
• Last Pushed: 2021-04-16T01:34:52.000Z (about 5 years ago)
• Last Synced: 2024-10-27T19:01:51.477Z (over 1 year ago)
• Topics: slam-algorithms
• Language: C++
• Homepage:
• Size: 967 KB
• Stars: 12
• Watchers: 3
• Forks: 4
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

          
# **CIL-SLAM**

## 1、工程简介

**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）。

## 2、视觉部分																													

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。

光流跟踪效果：

![pointFeatures](doc/image/point_features.png)

线特征匹配效果：

![lineFeatures](doc/image/line_features.png)

## 3、参考资源

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：

- [Lio-sam](https://github.com/TixiaoShan/LIO-SAM)，Tixiao Shan小哥真的是年轻有为！

- [Lego-loam](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM)

- [Vins-mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono)

- [Msckf-vio](https://github.com/KumarRobotics/msckf_vio)

- [Limo](https://ieeexplore.ieee.org/document/8594394)

- [Pl-vio](https://github.com/HeYijia/PL-VIO)