FAST-LIO, Then Bayesian ICP, Then GTSFM

10/01/2022

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by   Jerred Chen, et al.

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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