多传感器融合SLAM --- 7.LIO-SAM论文解读（紧耦合的激光雷达惯性SLAM）

目录

1 论文解读

1.1 摘要部分

1.2 Introduction

1.3  LIDAR INERTIAL ODOMETRY VIAS MOOTHING AND MAPPING

1.3.1 System Overview

1.3.2 IMU Preintegration Factor

1.3.3 Lidar Odometry Factor

1.3.4 GPS Factor

1.3.5 Loop Factor

2.LIO-SAM整体框架

3.LIO-SAM安装

4 LIO-SAM跑数据集的一些注意事项

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1 论文解读

1.1 摘要部分

        We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping（通过GTSAM优化库）, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation and map-building. LIO-SAM formulates lidar-inertial odometry atop a factor graph, allowing a multitude of relative and absolute measurements, including loop closures, to be incorporated from different sources as factors into the system. The estimated motion from inertial measurement unit (IMU) pre-integration de-skews point clouds and produces an initial guess for lidar odometry optimization. The obtained lidar odometry solution is used to estimate the bias of the IMU. To ensure high performance in real-time, we marginalize old lidar scans for pose optimization, rather than m