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Have you tried to optimize the past frames through the connection of mappoints? I think that Bundle Adjustment might be a good choice to the scale drift problem. The error...

Did anyone test the running time in KITTI or own dataset?

1

Thanks for the nice code from your guys, after trying your code I have found that in VLP-32 the whole mapping time may cost 130ms per frame (may not reach...

Any trial on ESDF and gradient computation

8

Hi, thanks for your great work! From the SLAM perspective, it would be better if the residual and gradient can be computed from the map to support frame-to-mesh registration (as...

Hello, if I only have a 3D laser scan(like Velodyne-16E), I wonder that whether your algorithm will still work or not. You mentioned that "NICP library can work also with...

Intel-MKL installation for C++ complie

1

Installation of Intel-MKL: https://github.com/eddelbuettel/mkl4deb Hope that it can help.

Thanks for your great work! I have a question about running the code with the KITTI dataset (sequence 07, 2011_09_30_sync_0027). What is the specific voxel size of the map in...

Hi authors, thanks for your great work! I wonder the specific meaning of the ``RidgeLayer''. The description ``local radius based distance along normal'' is still hard to understand. Thanks!

Requirements to be installed

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Thanks for your great works! Some dependencies should be installed: 1. (Vulcan-YJX)[https://github.com/Vulcan-YJX/VulcanSerial] 2. (OSQP)[https://osqp.org/docs/get_started/sources.html#build-from-sources] 3. (OSQP-Eigen)[https://github.com/robotology/osqp-eigen]

### 🐛 Describe the bug I created a simple g2o file to test the pose graph optimization. Here is the g2o: ``` VERTEX_SE3:QUAT 0 0 0.1 0 0 0 0...

We have released a work (published in ICRA2024) that extends the HLoc framework by integrating cross-modality data fusion to refine map quality and enhance real-time localization. Leveraging LiDAR-enhanced visual priors...