{"id":542,"date":"2026-06-13T13:44:00","date_gmt":"2026-06-13T05:44:00","guid":{"rendered":"https:\/\/ziyuan.work\/?p=542"},"modified":"2026-06-22T16:55:32","modified_gmt":"2026-06-22T08:55:32","slug":"fast-lio%ef%bc%88docker%ef%bc%89","status":"publish","type":"post","link":"https:\/\/ziyuan.work\/?p=542","title":{"rendered":"FAST-LIO\uff08docker\uff09"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\"><strong>\u4e00\u3001FAST-LIO\u662f\u4ec0\u4e48\uff1f<\/strong><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\uff08Fast LiDAR-Inertial Odometry\uff09\u662f\u9999\u6e2f\u5927\u5b66MARS\u5b9e\u9a8c\u5ba4\u63d0\u51fa\u7684\u4e00\u5957\u6fc0\u5149-\u60ef\u6027\u7d27\u8026\u5408\u91cc\u7a0b\u8ba1\u7b97\u6cd5\u3002\u5b83\u7684\u6838\u5fc3\u76ee\u6807\u53ea\u6709\u4e00\u4e2a\uff1a\u7528\u6fc0\u5149\u96f7\u8fbe\u548cIMU\u7684\u9ad8\u9891\u6570\u636e\uff0c\u5b9e\u65f6\u4f30\u8ba1\u673a\u5668\u4eba\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u4f4d\u59ff\uff0c\u5e76\u62fc\u63a5\u51fa\u5168\u5c40\u4e00\u81f4\u7684\u70b9\u4e91\u5730\u56fe\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u76f8\u6bd4\u4f20\u7edf\u7684\u6ee4\u6ce2\u65b9\u6848\uff08\u5982LOAM\u7cfb\u5217\uff09\uff0cFAST-LIO\u7684\u8ba1\u7b97\u6548\u7387\u6781\u9ad8\u3002\u5728\u666e\u901aCPU\u4e0a\u5c31\u80fd\u8dd1\u5230100Hz\u4ee5\u4e0a\uff0c\u540c\u65f6\u7cbe\u5ea6\u4e0d\u8f93\u751a\u81f3\u8d85\u8d8aLOAM\u3002\u8fd9\u5f97\u76ca\u4e8e\u5b83\u91c7\u7528\u4e86\u57fa\u4e8e\u8bef\u5dee\u72b6\u6001\u5361\u5c14\u66fc\u6ee4\u6ce2\uff08Error-State Kalman Filter, ESKF\uff09\u7684\u7d27\u8026\u5408\u6846\u67b6\uff0c\u4ee5\u53ca\u589e\u91cf\u5f0f\u5730\u56fe\u66f4\u65b0\u673a\u5236\uff08ikd-Tree\uff09\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e8c\u3001\u7b97\u6cd5\u539f\u7406\u8be6\u89e3<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.1\u6574\u4f53\u67b6\u6784\u6982\u89c8<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\u7684\u6570\u636e\u6d41\u53ef\u4ee5\u6982\u62ec\u4e3a\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">LiDAR\u70b9\u4e91 \u2500\u2500\u2510<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">               \u251c\u2500\u2500 \u70b9\u4e91\u9884\u5904\u7406 \u2500\u2500 \u7279\u5f81\u63d0\u53d6 \u2500\u2500 ESKF\u66f4\u65b0 \u2500\u2500 \u4f4d\u59ff\u4f30\u8ba1 \u2500\u2500 \u5730\u56fe\u66f4\u65b0IMU\u6570\u636e \u2500\u2500\u2500\u2500\u2500\u2518<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6574\u4e2a\u7cfb\u7edf\u8fd0\u884c\u5728\u4e00\u4e2aROS\u8282\u70b9\u4e2d\uff08fastlio_mapping\uff09\uff0c\u8ba2\u9605LiDAR\u548cIMU\u8bdd\u9898\uff0c\u53d1\u5e03\u91cc\u7a0b\u8ba1\u548c\u5730\u56fe\u3002\u6838\u5fc3\u6d41\u7a0b\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>IMU\u9884\u79ef\u5206\uff1a\u5728\u4e24\u5e27\u6fc0\u5149\u4e4b\u95f4\uff0c\u7528IMU\u7684\u9ad8\u9891\u6570\u636e\uff08200-1000Hz\uff09\u63a8\u7b97\u76f8\u5bf9\u8fd0\u52a8<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u4e91\u9884\u5904\u7406\uff1a\u8fd0\u52a8\u8865\u507f\uff08\u53bb\u7578\u53d8\uff09\u3001\u7279\u5f81\u63d0\u53d6\uff08\u5e73\u9762\u7279\u5f81 \/ \u89d2\u70b9\u7279\u5f81\uff09<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>ESKF\u66f4\u65b0\uff1a\u5c06\u6fc0\u5149\u91cc\u7a0b\u8ba1\u89c2\u6d4b\u548cIMU\u9884\u6d4b\u878d\u5408\uff0c\u4f30\u8ba1\u8bef\u5dee\u72b6\u6001<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5730\u56fe\u66f4\u65b0\uff1a\u5c06\u5f53\u524d\u5e27\u70b9\u4e91\u6295\u5f71\u5230\u5168\u5c40\u5730\u56fe\u4e2d\uff0c\u589e\u91cf\u5f0f\u7ef4\u62a4ikd-Tree<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.2 IMU\u9884\u79ef\u5206\u4e0e\u8fd0\u52a8\u8865\u507f<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u6fc0\u5149\u96f7\u8fbe\u7684\u626b\u63cf\u9891\u7387\u901a\u5e38\u53ea\u670910-20Hz\uff08Livox AVIA\u662f10Hz\uff0cVelodyne 32\u7ebf\u4e5f\u662f10Hz\uff09\uff0c\u800cIMU\u7684\u9891\u7387\u53ef\u4ee5\u8fbe\u5230200-1000Hz\u3002\u5728\u4e24\u6b21\u6fc0\u5149\u626b\u63cf\u4e4b\u95f4\uff0cIMU\u80fd\u63d0\u4f9b\u5927\u91cf\u7684\u9ad8\u9891\u59ff\u6001\u548c\u901f\u5ea6\u4fe1\u606f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\u4f7f\u7528IMU\u9884\u79ef\u5206\uff08Preintegration\uff09\u6280\u672f\uff1a\u7ed9\u5b9a\u4e0a\u4e00\u5e27\u6fc0\u5149\u65f6\u523bt_k\u7684IMU\u72b6\u6001\uff0c\u5bf9t_k\u5230t_{k+1} \u4e4b\u95f4\u7684\u6240\u6709IMU\u6d4b\u91cf\u503c\u8fdb\u884c\u79ef\u5206\uff0c\u5f97\u5230\u4e24\u5e27\u4e4b\u95f4\u7684\u76f8\u5bf9\u65cb\u8f6c\u3001\u901f\u5ea6\u548c\u4f4d\u79fb\u3002\u8fd9\u4e2a\u9884\u79ef\u5206\u7ed3\u679c\u4f5c\u4e3aESKF\u7684\u9884\u6d4b\u6b65\u9aa4\uff08Prediction\uff09\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u540c\u65f6\uff0c\u7531\u4e8e\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u4e00\u5e27\u9700\u8981\u4e00\u5b9a\u65f6\u95f4\uff08\u4f8b\u5982100ms\uff09\uff0c\u800c\u673a\u5668\u4eba\u5728\u8fd9\u671f\u95f4\u53ef\u80fd\u5df2\u7ecf\u8fd0\u52a8\u4e86\u76f8\u5f53\u8ddd\u79bb\uff0c\u6240\u4ee5\u70b9\u4e91\u4f1a\u4ea7\u751f\u8fd0\u52a8\u7578\u53d8\u3002FAST-LIO\u5229\u7528IMU\u6570\u636e\u5bf9\u6bcf\u4e00\u5e27\u70b9\u4e91\u505a\u8fd0\u52a8\u8865\u507f\uff08Deskew\uff09\uff0c\u628a\u6bcf\u4e2a\u70b9\u90fd\u6295\u5f71\u5230\u7edf\u4e00\u7684\u5750\u6807\u7cfb\u4e0b\u3002\u8fd9\u662f\u9ad8\u7cbe\u5ea6\u5efa\u56fe\u7684\u5173\u952e\u6b65\u9aa4\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.3\u8bef\u5dee\u72b6\u6001\u5361\u5c14\u66fc\u6ee4\u6ce2\uff08ESKF\uff09<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\u7684\u6838\u5fc3\u72b6\u6001\u4f30\u8ba1\u5668\u662f\u8bef\u5dee\u72b6\u6001\u5361\u5c14\u66fc\u6ee4\u6ce2\u3002\u8fd9\u91cc\u9700\u8981\u533a\u5206\u4e24\u4e2a\u6982\u5ff5\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u540d\u4e49\u72b6\u6001x\uff1a\u7531IMU\u6570\u636e\u76f4\u63a5\u79ef\u5206\u5f97\u5230\uff0c\u4e0d\u8003\u8651\u566a\u58f0\uff0c\u5305\u542b\u4e86\u5927\u7684\u975e\u7ebf\u6027\u8fd0\u52a8<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bef\u5dee\u72b6\u6001delta_x\uff1a\u4ee3\u8868\u540d\u4e49\u72b6\u6001\u7684\u5fae\u5c0f\u504f\u5dee\uff0c\u662f\u7ebf\u6027\u7684\uff0c\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u4f30\u8ba1<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u540d\u4e49\u72b6\u6001\u548c\u8bef\u5dee\u72b6\u6001\u7ec4\u5408\u6210\u5b8c\u6574\u7684\u72b6\u6001\u5411\u91cf\uff1a<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">x = [p, v, R, b_a, b_g, g]<br>&nbsp;&nbsp;&nbsp;&nbsp;p: \u4f4d\u7f6e (3D)<br>&nbsp;&nbsp;&nbsp;&nbsp;v: \u901f\u5ea6 (3D)<br>&nbsp;&nbsp;&nbsp;&nbsp;R: \u65cb\u8f6c (\u56db\u5143\u6570\u6216\u65cb\u8f6c\u77e9\u9635)<br>&nbsp;&nbsp;&nbsp;&nbsp;b_a: \u52a0\u901f\u5ea6\u8ba1\u504f\u7f6e (3D)<br>&nbsp;&nbsp;&nbsp;&nbsp;b_g: \u9640\u87ba\u4eea\u504f\u7f6e (3D)<br>&nbsp;&nbsp;&nbsp;&nbsp;g: \u91cd\u529b\u5411\u91cf (3D)<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">ESKF\u7684\u5de5\u4f5c\u6d41\u7a0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9884\u6d4b\uff08Predict\uff09\uff1a\u7528IMU\u9884\u79ef\u5206\u66f4\u65b0\u540d\u4e49\u72b6\u6001\uff0c\u540c\u65f6\u66f4\u65b0\u8bef\u5dee\u72b6\u6001\u7684\u534f\u65b9\u5dee<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u66f4\u65b0\uff08Update\uff09\uff1a\u7528\u6fc0\u5149\u91cc\u7a0b\u8ba1\u89c2\u6d4b\uff08\u5f53\u524d\u5e27\u4e0e\u5730\u56fe\u7684\u5339\u914d\u7ed3\u679c\uff09\u8ba1\u7b97\u6b8b\u5dee\uff0c\u66f4\u65b0\u8bef\u5dee\u72b6\u6001<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6ce8\u5165\uff08Inject\uff09\uff1a\u5c06\u4f30\u8ba1\u7684\u8bef\u5dee\u72b6\u6001\u6ce8\u5165\u540d\u4e49\u72b6\u6001\uff0c\u7136\u540e\u91cd\u7f6e\u8bef\u5dee\u72b6\u6001<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u79cd\u8bbe\u8ba1\u7684\u4f18\u52bf\u5728\u4e8e\uff1a\u540d\u4e49\u72b6\u6001\u53ef\u4ee5\u5904\u7406\u5927\u7684\u975e\u7ebf\u6027\u8fd0\u52a8\uff0c\u800c\u8bef\u5dee\u72b6\u6001\u59cb\u7ec8\u4fdd\u6301\u7ebf\u6027\uff0c\u53ef\u4ee5\u7528\u6807\u51c6\u7684\u5361\u5c14\u66fc\u6ee4\u6ce2\u9ad8\u6548\u6c42\u89e3\u3002\u8fd9\u4e5f\u662fFAST-LIO\u80fd\u8dd1\u5230100Hz\u7684\u91cd\u8981\u539f\u56e0\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.4\u70b9\u4e91\u7279\u5f81\u63d0\u53d6<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\u4e0d\u9700\u8981\u4f7f\u7528\u5168\u90e8\u70b9\u4e91\u8fdb\u884c\u5339\u914d\uff0c\u800c\u662f\u63d0\u53d6\u7279\u5f81\u70b9\u6765\u964d\u4f4e\u8ba1\u7b97\u91cf\u3002\u7279\u5f81\u5206\u4e3a\u4e24\u7c7b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5e73\u9762\u7279\u5f81\uff08Planar\uff09\uff1a\u4f4d\u4e8e\u5e73\u9762\u4e0a\u7684\u70b9\uff0c\u6cd5\u5411\u91cf\u4e0e\u6fc0\u5149\u65b9\u5411\u63a5\u8fd1\u5782\u76f4\uff0c\u5bf9\u5e73\u79fb\u654f\u611f<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u89d2\u70b9\u7279\u5f81\uff08Edge\uff09\uff1a\u4f4d\u4e8e\u8fb9\u7f18\u6216\u89d2\u4e0a\u7684\u70b9\uff0c\u5bf9\u65cb\u8f6c\u654f\u611f<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u7279\u5f81\u63d0\u53d6\u7684\u7b56\u7565\u662f\uff1a\u5c06\u4e00\u5e27\u70b9\u4e91\u6309\u66f2\u7387\u6392\u5e8f\uff0c\u66f2\u7387\u5927\u7684\u4f5c\u4e3a\u89d2\u70b9\u7279\u5f81\uff0c\u66f2\u7387\u5c0f\u7684\u4f5c\u4e3a\u5e73\u9762\u7279\u5f81\u3002FAST-LIO\u4f7f\u7528\u5c40\u90e8\u90bb\u57df\uff08\u901a\u5e38\u53d6\u6700\u8fd1\u768425\u4e2a\u70b9\uff09\u8ba1\u7b97\u66f2\u7387\uff0c\u7136\u540e\u6839\u636e\u9608\u503c\u5206\u7c7b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728ESKF\u66f4\u65b0\u6b65\u9aa4\u4e2d\uff0c\u6bcf\u4e2a\u5e73\u9762\u7279\u5f81\u70b9\u4e0e\u5730\u56fe\u4e2d\u6700\u8fd1\u7684\u5e73\u9762\u7247\u8ba1\u7b97\u70b9\u5230\u5e73\u9762\u8ddd\u79bb\uff0c\u6bcf\u4e2a\u89d2\u70b9\u7279\u5f81\u70b9\u4e0e\u5730\u56fe\u4e2d\u6700\u8fd1\u7684\u8fb9\u7f18\u7ebf\u8ba1\u7b97\u70b9\u5230\u7ebf\u8ddd\u79bb\u3002\u8fd9\u4e9b\u8ddd\u79bb\u6784\u6210\u89c2\u6d4b\u6b8b\u5dee\uff0c\u7528\u4e8e\u66f4\u65b0\u72b6\u6001\u4f30\u8ba1\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.5 ikd-Tree\u589e\u91cf\u5f0f\u5730\u56fe<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\u4f7f\u7528ikd-Tree\uff08incremental k-d Tree\uff09\u4f5c\u4e3a\u5168\u5c40\u5730\u56fe\u7684\u6570\u636e\u7ed3\u6784\u3002ikd-Tree\u662f\u4e00\u79cd\u652f\u6301\u589e\u91cf\u63d2\u5165\u548c\u5220\u9664\u7684k-d\u6811\uff0c\u4e13\u95e8\u4e3a\u4e09\u7ef4\u70b9\u4e91\u8bbe\u8ba1\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">ikd-Tree\u7684\u6838\u5fc3\u4f18\u52bf\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u589e\u91cf\u66f4\u65b0\uff1a\u65b0\u5e27\u70b9\u4e91\u76f4\u63a5\u63d2\u5165\u5730\u56fe\uff0c\u4e0d\u9700\u8981\u91cd\u5efa\u6574\u68f5\u6811<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u964d\u91c7\u6837\uff1a\u6bcf\u4e2a\u4f53\u7d20\u683c\u5b50\u53ea\u4fdd\u7559\u4e00\u4e2a\u70b9\uff08\u6216\u51e0\u4e2a\u70b9\uff09\uff0c\u63a7\u5236\u5730\u56fe\u5927\u5c0f<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8fd1\u90bb\u641c\u7d22\uff1a\u652f\u6301\u5feb\u901f\u7684\u6700\u8fd1\u90bb\u67e5\u8be2\uff0c\u7528\u4e8e\u7279\u5f81\u5339\u914d<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5220\u9664\u64cd\u4f5c\uff1a\u53ef\u4ee5\u5220\u9664\u65e7\u7684\u6216\u4e0d\u9700\u8981\u7684\u70b9\uff0c\u4fdd\u6301\u5730\u56fe\u6574\u6d01<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5730\u56fe\u7684\u964d\u91c7\u6837\u5206\u8fa8\u7387\u7531filter_size_map\u53c2\u6570\u63a7\u5236\uff08\u901a\u5e380.5m\uff09\u3002\u8fd9\u610f\u5473\u7740\u5730\u56fe\u4e2d\u6bcf\u4e2a0.5m x 0.5m x 0.5m\u7684\u4f53\u7d20\u53ea\u4fdd\u7559\u4e00\u4e2a\u70b9\u3002\u8fd9\u4e2a\u5206\u8fa8\u7387\u76f4\u63a5\u5f71\u54cd\u5efa\u56fe\u7cbe\u5ea6\u548c\u5185\u5b58\u5360\u7528\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e09\u3001ROS\u4f7f\u7528\u6307\u5357<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.1\u8bdd\u9898\u4e0e\u6570\u636e\u6d41<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\u4f5c\u4e3aROS\u8282\u70b9\u8fd0\u884c\uff0c\u901a\u8fc7\u8bdd\u9898\uff08Topic\uff09\u4e0e\u5176\u4ed6\u8282\u70b9\u901a\u4fe1\u3002\u7406\u89e3\u8fd9\u4e9b\u8bdd\u9898\u662f\u6b63\u786e\u4f7f\u7528FAST-LIO\u7684\u524d\u63d0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>\u8bdd\u9898\u540d<\/strong><\/td><td><strong>\u6d88\u606f\u7c7b\u578b<\/strong><\/td><td><strong>\u65b9\u5411<\/strong><\/td><td><strong>\u8bf4\u660e<\/strong><\/td><\/tr><tr><td>\/livox\/lidar<\/td><td>livox_ros_driver2\/CustomMsg<\/td><td>\u8ba2\u9605<\/td><td>Livox\u96f7\u8fbe\u539f\u59cb\u6570\u636e<\/td><\/tr><tr><td>\/livox\/imu<\/td><td>sensor_msgs\/Imu<\/td><td>\u8ba2\u9605<\/td><td>Livox IMU\u6570\u636e<\/td><\/tr><tr><td>\/velodyne_points<\/td><td>sensor_msgs\/PointCloud2<\/td><td>\u8ba2\u9605<\/td><td>Velodyne\u96f7\u8fbe\u6570\u636e<\/td><\/tr><tr><td>\/imu\/data<\/td><td>sensor_msgs\/Imu<\/td><td>\u8ba2\u9605<\/td><td>\u5916\u90e8IMU\u6570\u636e<\/td><\/tr><tr><td>\/Odometry<\/td><td>nav_msgs\/Odometry<\/td><td>\u53d1\u5e03<\/td><td>\u91cc\u7a0b\u8ba1\uff08\u9ad8\u9891\u4f4d\u59ff\uff09<\/td><\/tr><tr><td>\/cloud_registered<\/td><td>sensor_msgs\/PointCloud2<\/td><td>\u53d1\u5e03<\/td><td>\u6ce8\u518c\u5230\u4e16\u754c\u5750\u6807\u7cfb\u7684\u70b9\u4e91<\/td><\/tr><tr><td>\/cloud_registered_body<\/td><td>sensor_msgs\/PointCloud2<\/td><td>\u53d1\u5e03<\/td><td>\u6ce8\u518c\u5230IMU\u5750\u6807\u7cfb\u7684\u70b9\u4e91<\/td><\/tr><tr><td>\/path<\/td><td>nav_msgs\/Path<\/td><td>\u53d1\u5e03<\/td><td>\u8fd0\u52a8\u8f68\u8ff9<\/td><\/tr><tr><td>\/LaserCloudMap<\/td><td>sensor_msgs\/PointCloud2<\/td><td>\u53d1\u5e03<\/td><td>\u5c40\u90e8\u5730\u56fe\u70b9\u4e91<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u6ce8\u610f\uff1aLivox\u96f7\u8fbe\u4f7f\u7528\u81ea\u5b9a\u4e49\u6d88\u606f\u7c7b\u578bCustomMsg\uff0c\u4e0d\u662f\u6807\u51c6\u7684PointCloud2\u3002\u8fd9\u662f\u56e0\u4e3aLivox\u96f7\u8fbe\u7684\u70b9\u4e91\u6570\u636e\u5305\u542b\u6bcf\u4e2a\u70b9\u7684\u53cd\u5c04\u5f3a\u5ea6\u3001\u65f6\u95f4\u6233\u7b49\u989d\u5916\u4fe1\u606f\uff0c\u6807\u51c6\u6d88\u606f\u65e0\u6cd5\u5bb9\u7eb3\u3002FAST-LIO\u5185\u90e8\u4f1a\u5c06CustomMsg\u8f6c\u6362\u4e3aPointCloud2\u518d\u5904\u7406\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.2 Launch\u6587\u4ef6\u4e0e\u53c2\u6570\u914d\u7f6e<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\u4f7f\u7528ROS\u7684launch\u6587\u4ef6\u542f\u52a8\u3002\u4e0d\u540c\u96f7\u8fbe\u578b\u53f7\u5bf9\u5e94\u4e0d\u540c\u7684launch\u6587\u4ef6\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>Launch\u6587\u4ef6<\/strong><\/td><td><strong>\u9002\u7528\u96f7\u8fbe<\/strong><\/td><td><strong>\u8bf4\u660e<\/strong><\/td><\/tr><tr><td>mapping_avia.launch<\/td><td>Livox AVIA<\/td><td>Livox\u975e\u91cd\u590d\u626b\u63cf\u96f7\u8fbe<\/td><\/tr><tr><td>mapping_velodyne.launch<\/td><td>Velodyne 16\/32\/64<\/td><td>Velodyne\u673a\u68b0\u65cb\u8f6c\u96f7\u8fbe<\/td><\/tr><tr><td>mapping_mid360.launch<\/td><td>Livox Mid-360<\/td><td>Livox\u4e2d\u8ddd\u96f7\u8fbe<\/td><\/tr><tr><td>mapping_mid70.launch<\/td><td>Livox Mid-70<\/td><td>Livox\u77ed\u8ddd\u96f7\u8fbe<\/td><\/tr><tr><td>mapping_horizon.launch<\/td><td>Livox Horizon<\/td><td>Livox\u5355\u7ebf\u96f7\u8fbe<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Launch\u6587\u4ef6\u7684\u6838\u5fc3\u4f5c\u7528\u662f\u52a0\u8f7d\u53c2\u6570\u914d\u7f6e\u6587\u4ef6\uff08YAML\uff09\u5e76\u542f\u52a8fastlio_mapping\u8282\u70b9\u3002\u53c2\u6570\u6587\u4ef6\u662f\u914d\u7f6eFAST-LIO\u884c\u4e3a\u7684\u5173\u952e\uff0c\u4e0b\u9762\u8be6\u7ec6\u4ecb\u7ecd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.3\u53c2\u6570\u914d\u7f6e\u8be6\u89e3\uff08avia.yaml\u4e3a\u4f8b\uff09<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u53c2\u6570\u6587\u4ef6\u4f4d\u4e8econfig\/ \u76ee\u5f55\u4e0b\uff0c\u4ee5YAML\u683c\u5f0f\u7ec4\u7ec7\u3002\u4ee5\u4e0b\u662f\u5404\u53c2\u6570\u7684\u542b\u4e49\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>common:\n\u00a0\u00a0\u00a0\u00a0lid_topic: \u00a0\"\/livox\/lidar\" \u00a0\u00a0\u00a0\u00a0\u00a0# LiDAR\u8bdd\u9898\u540dimu_topic: \u00a0\"\/livox\/imu\" \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# IMU\u8bdd\u9898\u540dtime_sync_en: false \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u542f\u7528\u65f6\u95f4\u540c\u6b65time_offset_lidar_to_imu: 0.0 \u00a0\u00a0# LiDAR\u5230IMU\u7684\u65f6\u95f4\u504f\u79fbpreprocess:\n\u00a0\u00a0\u00a0\u00a0lidar_type: 1 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u96f7\u8fbe\u7c7b\u578b: 1=AVIA, 2=Velodyne\n\u00a0\u00a0\u00a0\u00a0scan_line: 6 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u626b\u63cf\u7ebf\u6570: AVIA=6, Velodyne=16\/32\/64\n\u00a0\u00a0\u00a0\u00a0scan_rate: 10 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u626b\u63cf\u9891\u7387 (Hz)\n\u00a0\u00a0\u00a0\u00a0timestamp_unit: 1 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u65f6\u95f4\u6233\u5355\u4f4d: 0=\u79d2, 1=\u6beb\u79d2, 2=\u5fae\u79d2\nblind: 0.5 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u76f2\u533a\u8ddd\u79bb (m)\uff0c\u8fc7\u6ee4\u8fd1\u8ddd\u79bb\u566a\u58f0mapping:\n\u00a0\u00a0\u00a0\u00a0filter_size_surf: 0.5 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u5e73\u9762\u7279\u5f81\u964d\u91c7\u6837\u5206\u8fa8\u7387 (m)\n\u00a0\u00a0\u00a0\u00a0filter_size_map: 0.5 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u5168\u5c40\u5730\u56fe\u964d\u91c7\u6837\u5206\u8fa8\u7387 (m)\n\u00a0\u00a0\u00a0\u00a0max_iteration: 3 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# ESKF\u6700\u5927\u8fed\u4ee3\u6b21\u6570\nacc_cov: 0.1 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u52a0\u901f\u5ea6\u566a\u58f0\u534f\u65b9\u5dee\ngyr_cov: 0.1 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u9640\u87ba\u4eea\u566a\u58f0\u534f\u65b9\u5dee\nb_acc_cov: 0.0001 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u52a0\u901f\u5ea6\u8ba1\u504f\u7f6e\u566a\u58f0\nb_gyr_cov: 0.0001 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u9640\u87ba\u4eea\u504f\u7f6e\u566a\u58f0\nfov_degree: 360 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u89c6\u573a\u89d2 (\u5ea6)\n\u00a0\u00a0\u00a0\u00a0det_range: 100.0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u6700\u5927\u63a2\u6d4b\u8ddd\u79bb (m)\n\u00a0\u00a0\u00a0\u00a0extrinsic_est_en: false \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u5728\u7ebf\u4f30\u8ba1\u5916\u53c2\nextrinsic_T: &#91;0, 0, 0] \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# LiDAR\u5230IMU\u7684\u5e73\u79fb\u5916\u53c2\nextrinsic_R: &#91;1,0,0, 0,1,0, 0,0,1] \u00a0# LiDAR\u5230IMU\u7684\u65cb\u8f6c\u5916\u53c2\npublish:\n\u00a0\u00a0\u00a0\u00a0path_en: true \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u53d1\u5e03\u8f68\u8ff9\nscan_publish_en: true \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u53d1\u5e03\u6ce8\u518c\u70b9\u4e91\ndense_publish_en: true \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u53d1\u5e03\u7a20\u5bc6\u70b9\u4e91scan_bodyframe_pub_en: true \u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u53d1\u5e03IMU\u5750\u6807\u7cfb\u70b9\u4e91pcd_save:\npcd_save_en: true \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u4fdd\u5b58PCD\n\u00a0\u00a0\u00a0\u00a0interval: -1 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u4fdd\u5b58\u95f4\u9694: -1=\u7ed3\u675f\u65f6\u4fdd\u5b58, >0=\u6bcfN\u5e27\u4fdd\u5b58<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5173\u952e\u53c2\u6570\u8c03\u4f18\u5efa\u8bae\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>filter_size_surf \/ filter_size_map\uff1a\u964d\u4f4e\u5206\u8fa8\u7387\u53ef\u4ee5\u52a0\u5feb\u5efa\u56fe\u901f\u5ea6\u4f46\u4f1a\u635f\u5931\u7ec6\u8282\u3002\u5ba4\u5185\u573a\u666f0.3-0.5m\uff0c\u5ba4\u5916\u573a\u666f0.5-1.0m<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>max_iteration\uff1aESKF\u8fed\u4ee3\u6b21\u6570\u3002\u7cbe\u5ea6\u8981\u6c42\u9ad8\u53ef\u4ee5\u8bbe\u4e3a5\uff0c\u5b9e\u65f6\u6027\u8981\u6c42\u9ad8\u8bbe\u4e3a3<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>blind\uff1a\u76f2\u533a\u8ddd\u79bb\u3002\u9700\u8981\u8fc7\u6ee4\u96f7\u8fbe\u81ea\u8eab\u548c\u673a\u5668\u4eba\u8f66\u4f53\u7684\u70b9\uff0cLivox AVIA\u8bbe0.5m\uff0cVelodyne\u8bbe2.0m<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>extrinsic_T \/ extrinsic_R\uff1aLiDAR\u548cIMU\u4e4b\u95f4\u7684\u5916\u53c2\u3002\u5982\u679c\u5b89\u88c5\u4f4d\u7f6e\u7cbe\u786e\u5df2\u77e5\uff0c\u76f4\u63a5\u586b\u5165\uff1b\u5982\u679c\u4e0d\u786e\u5b9a\uff0c\u53ef\u4ee5\u8bbeextrinsic_est_en: true\u8ba9FAST-LIO\u5728\u7ebf\u4f30\u8ba1<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.4\u591a\u96f7\u8fbe\u578b\u53f7\u9002\u914d<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\u652f\u6301\u591a\u79cd\u96f7\u8fbe\u578b\u53f7\uff0c\u5207\u6362\u96f7\u8fbe\u53ea\u9700\u8981\u4fee\u6539YAML\u914d\u7f6e\u6587\u4ef6\u4e2d\u7684\u51e0\u4e2a\u53c2\u6570\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>\u96f7\u8fbe\u578b\u53f7<\/strong><\/td><td><strong>lidar_type<\/strong><\/td><td><strong>scan_line<\/strong><\/td><td><strong>\u8bdd\u9898\u540d<\/strong><\/td><td><strong>\u6d88\u606f\u7c7b\u578b<\/strong><\/td><\/tr><tr><td>Livox AVIA<\/td><td>1<\/td><td>6<\/td><td>\/livox\/lidar<\/td><td>CustomMsg<\/td><\/tr><tr><td>Velodyne 16\/32\/64<\/td><td>2<\/td><td>16\/32\/64<\/td><td>\/velodyne_points<\/td><td>PointCloud2<\/td><\/tr><tr><td>Livox Mid-360<\/td><td>2<\/td><td>4<\/td><td>\/livox\/lidar<\/td><td>CustomMsg<\/td><\/tr><tr><td>Livox Mid-70<\/td><td>3<\/td><td>4<\/td><td>\/livox\/lidar<\/td><td>CustomMsg<\/td><\/tr><tr><td>Livox Horizon<\/td><td>4<\/td><td>6<\/td><td>\/livox\/lidar<\/td><td>CustomMsg<\/td><\/tr><tr><td>Livox Tele<\/td><td>5<\/td><td>1<\/td><td>\/livox\/lidar<\/td><td>CustomMsg<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u6ce8\u610f\uff1a\u4fee\u6539\u53c2\u6570\u540e\u4e0d\u9700\u8981\u91cd\u65b0\u7f16\u8bd1\uff0cFAST-LIO\u4f1a\u5728\u6bcf\u6b21\u542f\u52a8\u65f6\u8bfb\u53d6\u6700\u65b0\u7684YAML\u6587\u4ef6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.5\u5916\u53c2\u6807\u5b9a\uff08Extrinsic Calibration\uff09<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">LiDAR\u548cIMU\u4e4b\u95f4\u7684\u5916\u53c2\uff08Translation + Rotation\uff09\u5bf9\u5efa\u56fe\u7cbe\u5ea6\u81f3\u5173\u91cd\u8981\u3002\u5982\u679c\u5916\u53c2\u4e0d\u51c6\u786e\uff0c\u5efa\u56fe\u4f1a\u51fa\u73b0\u660e\u663e\u7684\u91cd\u5f71\u6216\u6f02\u79fb\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\u63d0\u4f9b\u4e24\u79cd\u65b9\u5f0f\u5904\u7406\u5916\u53c2\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u624b\u52a8\u586b\u5165\uff1a\u5982\u679c\u5df2\u77e5LiDAR\u548cIMU\u7684\u76f8\u5bf9\u5b89\u88c5\u4f4d\u7f6e\uff0c\u76f4\u63a5\u5728YAML\u4e2d\u586b\u5199extrinsic_T\u548cextrinsic_R<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728\u7ebf\u4f30\u8ba1\uff1a\u8bbeextrinsic_est_en: true\uff0cFAST-LIO\u4f1a\u5728\u8fd0\u884c\u8fc7\u7a0b\u4e2d\u81ea\u52a8\u4f18\u5316\u5916\u53c2\u3002\u4f46\u521d\u59cb\u503c\u4e0d\u80fd\u504f\u5dee\u592a\u5927\uff0c\u5426\u5219\u4f1a\u6536\u655b\u5230\u9519\u8bef\u503c<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5916\u53c2\u7684\u683c\u5f0f\uff1a<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">extrinsic_T: [t_x, t_y, t_z] &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;# \u5e73\u79fb (\u7c73)<br>extrinsic_R: [r11, r12, r13, &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;# \u65cb\u8f6c\u77e9\u9635 (3&#215;3, \u884c\u4f18\u5148)<br>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;r21, r22, r23,<br>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;r31, r32, r33]<\/p>\n<\/blockquote>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.6\u4f7f\u7528rosbag\u79bb\u7ebf\u5efa\u56fe<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u5b9e\u9645\u4f7f\u7528\u4e2d\uff0c\u6211\u4eec\u901a\u5e38\u5148\u5f55\u5236rosbag\u5305\uff0c\u518d\u7528FAST-LIO\u79bb\u7ebf\u5904\u7406\u751f\u6210\u70b9\u4e91\u5730\u56fe\u3002\u8fd9\u6837\u505a\u7684\u597d\u5904\u662f\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u53ef\u4ee5\u53cd\u590d\u8c03\u6574\u53c2\u6570\uff0c\u627e\u5230\u6700\u4f73\u914d\u7f6e<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u907f\u514d\u5b9e\u65f6\u5efa\u56fe\u65f6\u673a\u5668\u4eba\u8fd0\u52a8\u4e0d\u7a33\u5b9a\u5bfc\u81f4\u7684\u6570\u636e\u8d28\u91cf\u95ee\u9898<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u53ef\u4ee5\u52a0\u901f\u64ad\u653e\uff08Livox AVIA\u53ef\u4ee510\u500d\u901f\u751a\u81f320\u500d\u901f\uff09<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u79bb\u7ebf\u5efa\u56fe\u9700\u8981\u4e24\u4e2a\u7ec8\u7aef\uff08\u6216\u4e24\u4e2aSSH\u4f1a\u8bdd\uff09\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u7ec8\u7aef1: \u542f\u52a8FAST-LIO<br>roslaunch fast_lio mapping_avia.launch rviz:=false<br><br># \u7ec8\u7aef2: \u64ad\u653erosbag<br>rosbag play -r 10 your_bag_file.bag<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f53\u7ec8\u7aef2\u663e\u793aDone. \u540e\uff0c\u5207\u56de\u7ec8\u7aef1\u6309Ctrl+C\u3002FAST-LIO\u4f1a\u5728\u9000\u51fa\u65f6\u81ea\u52a8\u4fdd\u5b58PCD\u6587\u4ef6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6ce8\u610f\uff1aLivox AVIA\u6570\u636e\u91cf\u5c0f\uff0c\u53ef\u4ee5\u52a0\u901f\u64ad\u653e\uff08-r 10\u751a\u81f3 -r 20\uff09\uff0c150\u79d2\u7684\u6570\u636e15\u79d2\u5c31\u80fd\u64ad\u5b8c\u3002\u4f46Velodyne 32\u7ebf\u6570\u636e\u91cf\u5927\uff0c\u5fc5\u987b\u539f\u901f\u64ad\u653e\uff08-r 1\uff09\uff0c\u5426\u5219\u6d88\u606f\u961f\u5217\u4f1a\u7206\u6ee1\u5bfc\u81f4\u6570\u636e\u4e22\u5931\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u56db\u3001\u5e38\u89c1\u95ee\u9898\u4e0e\u6392\u67e5<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>4.1\u6ca1\u6709\u751f\u6210PCD<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">PCD\u6587\u4ef6\u4fdd\u5b58\u5728\u9000\u51fa\u94a9\u5b50\uff08Exit Hook\uff09\u4e2d\uff0c\u53ea\u6709\u5728\u6309Ctrl+C\u6b63\u5e38\u9000\u51fa\u65f6\u624d\u4f1a\u89e6\u53d1\u3002\u5982\u679c\u76f4\u63a5\u5173\u95ed\u7ec8\u7aef\u6216kill\u8fdb\u7a0b\uff0cPCD\u4e0d\u4f1a\u4fdd\u5b58\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>4.2\u62a5Error during open!<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u901a\u5e38\u662fPCD\u4fdd\u5b58\u8def\u5f84\u4e0d\u5b58\u5728\u6216\u6743\u9650\u95ee\u9898\u3002\u68c0\u67e5\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ls -ld \/root\/fastlio_ws\/src\/FAST_LIO\/PCD<br># \u5e94\u8be5\u663e\u793a: PCD -&gt; \/workspace (\u8f6f\u94fe\u63a5)<br># \u5982\u679c\u4e0d\u662f\uff0c\u91cd\u5efa\u8f6f\u94fe\u63a5:<br>rm -rf \/root\/fastlio_ws\/src\/FAST_LIO\/PCD<br>ln -s \/workspace \/root\/fastlio_ws\/src\/FAST_LIO\/PCD<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>4.3\u5361\u5728No point, skip this scan!<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u8bf4\u660e\u6fc0\u5149\u70b9\u4e91\u6570\u636e\u7f3a\u5c11\u5fc5\u8981\u5b57\u6bb5\u3002\u53ef\u80fd\u7684\u539f\u56e0\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>PointCloud2\u7f3a\u5c11ring\uff08\u7ebf\u675fID\uff09\u6216time\uff08\u5355\u70b9\u65f6\u95f4\u6233\uff09\u5b57\u6bb5<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>bag\u5305\u4e2d\u7684\u70b9\u4e91\u6570\u636e\u683c\u5f0f\u4e0e\u914d\u7f6e\u4e0d\u5339\u914d<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u96f7\u8fbe\u8bdd\u9898\u540d\u914d\u7f6e\u9519\u8bef\uff0cFAST-LIO\u6ca1\u6709\u63a5\u6536\u5230\u6570\u636e<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>4.4\u5efa\u56fe\u6f02\u79fb\u4e25\u91cd<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5efa\u56fe\u6f02\u79fb\u901a\u5e38\u7531\u4ee5\u4e0b\u539f\u56e0\u5bfc\u81f4\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>IMU\u548cLiDAR\u7684\u5916\u53c2\u4e0d\u51c6\u786e\uff0c\u9700\u8981\u91cd\u65b0\u6807\u5b9a\u5916\u53c2<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>IMU\u566a\u58f0\u53c2\u6570\u8bbe\u7f6e\u4e0d\u5408\u7406\uff0c\u8c03\u6574acc_cov\u548cgyr_cov<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u73af\u5883\u7f3a\u4e4f\u51e0\u4f55\u7279\u5f81\uff08\u957f\u8d70\u5eca\u3001\u767d\u5899\uff09\uff0c\u589e\u52a0max_iteration\u6216\u964d\u4f4efilter_size_map<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8fd0\u52a8\u8865\u507f\u4e0d\u51c6\u786e\uff0c\u68c0\u67e5IMU\u9891\u7387\u662f\u5426\u8db3\u591f\u9ad8<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>4.5\u5185\u5b58\u5360\u7528\u8fc7\u9ad8<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u5efa\u56fe\u8303\u56f4\u5f88\u5927\uff0cikd-Tree\u4f1a\u5360\u7528\u5927\u91cf\u5185\u5b58\u3002\u53ef\u4ee5\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u589e\u5927filter_size_map\uff08\u5982\u4ece0.5m\u6539\u4e3a1.0m\uff09\u6765\u51cf\u5c11\u5730\u56fe\u70b9\u6570<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u7f6epcd_save.interval\u4e3a\u6b63\u503c\uff08\u5982200\uff09\uff0c\u5b9a\u671f\u4fdd\u5b58\u5e76\u6e05\u7a7a\u5730\u56fe<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9650\u5236\u5efa\u56fe\u8303\u56f4\uff08\u51cf\u5c0fdet_range\u53c2\u6570\uff09<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e94\u3001\u603b\u7ed3<\/strong><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIO\u662f\u4e00\u5957\u9ad8\u6548\u3001\u5b9e\u7528\u7684\u6fc0\u5149-\u60ef\u6027\u7d27\u8026\u5408SLAM\u65b9\u6848\u3002\u5b83\u7684\u6838\u5fc3\u4f18\u52bf\u5728\u4e8e\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u901f\u5ea6\u5feb\uff1aESKF + ikd-Tree\u7684\u8bbe\u8ba1\u4f7f\u5176\u5728\u666e\u901aCPU\u4e0a\u5c31\u80fd\u8dd1\u5230100Hz<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7cbe\u5ea6\u9ad8\uff1a\u7d27\u8026\u5408\u6846\u67b6\u5145\u5206\u5229\u7528\u4e86IMU\u548cLiDAR\u7684\u4e92\u8865\u4f18\u52bf<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6613\u7528\u6027\uff1aROS\u63a5\u53e3\u6e05\u6670\uff0c\u53c2\u6570\u914d\u7f6e\u7b80\u5355\uff0c\u652f\u6301\u591a\u79cd\u96f7\u8fbe\u578b\u53f7<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728\u5b9e\u9645\u4f7f\u7528\u4e2d\uff0c\u5173\u952e\u662f\u7406\u89e3\u53c2\u6570\u7684\u542b\u4e49\u5e76\u6839\u636e\u573a\u666f\u8c03\u4f18\u3002\u5e0c\u671b\u672c\u6587\u80fd\u5e2e\u52a9\u4f60\u66f4\u597d\u5730\u4f7f\u7528FAST-LIO\u8fdb\u884c\u673a\u5668\u4eba\u5efa\u56fe\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001FAST-LIO\u662f\u4ec0\u4e48\uff1f FAST-LIO\uff08Fast LiDAR-Inertial Odometry\uff09\u662f\u9999 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