{"id":545,"date":"2026-06-20T19:15:00","date_gmt":"2026-06-20T11:15:00","guid":{"rendered":"https:\/\/ziyuan.work\/?p=545"},"modified":"2026-06-22T17:24:48","modified_gmt":"2026-06-22T09:24:48","slug":"fast-livo%ef%bc%88docker%ef%bc%89","status":"publish","type":"post","link":"https:\/\/ziyuan.work\/?p=545","title":{"rendered":"FAST-LIVO\uff08docker\uff09"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\"><strong>\u4e00\u3001FAST-LIVO\u662f\u4ec0\u4e48\uff1f<\/strong><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\uff08Fast LiDAR-Inertial-Visual Odometry\uff09\u662f\u9999\u6e2f\u5927\u5b66MARS\u5b9e\u9a8c\u5ba4\u63d0\u51fa\u7684\u6fc0\u5149-\u60ef\u6027-\u89c6\u89c9\u7d27\u8026\u5408\u91cc\u7a0b\u8ba1\u7b97\u6cd5\u3002\u5b83\u7684\u6838\u5fc3\u76ee\u6807\u662f\u7528\u6fc0\u5149\u96f7\u8fbe\u3001IMU\u548c\u76f8\u673a\u4e09\u79cd\u4f20\u611f\u5668\u7684\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\">FAST-LIVO\u53d1\u8868\u4e8eIEEE T-RO 2024\uff08\u8bba\u6587: FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry\uff09\uff0c\u662fFAST-LIO\u7684\u89c6\u89c9\u589e\u5f3a\u7248\u3002\u76f8\u6bd4FAST-LIO\u53ea\u4f7f\u7528LiDAR + IMU\uff0cFAST-LIVO\u589e\u52a0\u4e86\u76f8\u673a\u901a\u9053\uff0c\u80fd\u591f\u5728\u6fc0\u5149\u9000\u5316\u573a\u666f\uff08\u957f\u8d70\u5eca\u3001\u96a7\u9053\u3001\u7a7a\u65f7\u5927\u5385\u7b49\uff09\u4e0b\u4f9d\u9760\u89c6\u89c9\u7279\u5f81\u7ee7\u7eed\u7a33\u5b9a\u5efa\u56fe\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u7684\u6838\u5fc3\u6539\u8fdb\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u89c6\u89c9\u901a\u9053\uff1a\u589e\u52a0\u76f8\u673a\u4f20\u611f\u5668\uff0c\u63d0\u4f9b\u89c6\u89c9\u91cd\u6295\u5f71\u7ea6\u675f\uff0c\u5728\u6fc0\u5149\u9000\u5316\u65f6\u8865\u5145\u7eb9\u7406\u4fe1\u606f<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>VoxelOctoTree\uff1a\u5730\u56fe\u5b58\u50a8\u5347\u7ea7\u4e3a\u516b\u53c9\u6811\u4f53\u7d20\u5730\u56fe\uff0c\u5185\u5b58\u66f4\u7d27\u51d1\uff0c\u67e5\u8be2\u66f4\u9ad8\u6548<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9000\u5316\u573a\u666f\u68c0\u6d4b\uff1a\u81ea\u52a8\u68c0\u6d4b\u51e0\u4f55\u7279\u5f81\u5355\u4e00\u7684\u73af\u5883\uff0c\u52a8\u6001\u8c03\u6574\u6fc0\u5149\u548c\u89c6\u89c9\u7684\u6743\u91cd<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u66dd\u5149\u8865\u507f\uff1a\u5728\u7ebf\u4f30\u8ba1\u76f8\u673a\u66dd\u5149\u65f6\u95f4\uff0c\u63d0\u5347\u89c6\u89c9\u7279\u5f81\u63d0\u53d6\u7684\u9c81\u68d2\u6027<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u591a\u96f7\u8fbe\u652f\u6301\uff1aLivox AVIA \/ Mid-360 \/ Mid-70 \/ Velodyne \/ Hesai \/ RoboSense\u7b49<\/li>\n<\/ul>\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-LIVO\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<br>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;\u251c\u2500\u2500 \u70b9\u4e91\u9884\u5904\u7406 \u2500\u2500 \u7279\u5f81\u63d0\u53d6 \u2500\u2500\u2510<br>IMU\u6570\u636e \u2500\u2500\u2500\u2500\u2500\u2524 &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;\u251c\u2500\u2500 ESKF\u66f4\u65b0 \u2500\u2500 \u4f4d\u59ff\u4f30\u8ba1 \u2500\u2500 \u5730\u56fe\u66f4\u65b0<br>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;\u251c\u2500\u2500 IMU\u9884\u79ef\u5206 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br>\u76f8\u673a\u56fe\u50cf \u2500\u2500\u2500\u2500\u2500\u2534\u2500\u2500 \u89c6\u89c9\u7279\u5f81\u63d0\u53d6 \u2500\u2500\u2500\u2500\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\u3001IMU\u548c\u76f8\u673a\u8bdd\u9898\uff0c\u53d1\u5e03\u91cc\u7a0b\u8ba1\u548c\u5730\u56fe\u3002\u7cfb\u7edf\u652f\u6301\u4e09\u79cd\u5de5\u4f5c\u6a21\u5f0f\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>LIVO\u6a21\u5f0f\uff1aLiDAR + IMU + Camera\u4e09\u4f20\u611f\u5668\u878d\u5408\uff08\u9ed8\u8ba4\u6a21\u5f0f\uff09<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>LIO\u6a21\u5f0f\uff1a\u4ec5LiDAR + IMU\uff08\u76f8\u673a\u6570\u636e\u4e0d\u53ef\u7528\u65f6\u81ea\u52a8\u5207\u6362\uff09<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>LO\u6a21\u5f0f\uff1a\u4ec5LiDAR\uff08IMU\u548c\u76f8\u673a\u90fd\u4e0d\u53ef\u7528\u65f6\uff09<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.2\u4e09\u4f20\u611f\u5668\u7d27\u8026\u5408\u6846\u67b6<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u7684\u6838\u5fc3\u521b\u65b0\u662f\u5c06LiDAR\u3001IMU\u548cCamera\u4e09\u4e2a\u4f20\u611f\u5668\u7684\u6570\u636e\u5728\u8bef\u5dee\u72b6\u6001\u5361\u5c14\u66fc\u6ee4\u6ce2\uff08ESKF\uff09\u5c42\u9762\u8fdb\u884c\u7d27\u8026\u5408\u878d\u5408\u3002\u6bcf\u4e2a\u4f20\u611f\u5668\u63d0\u4f9b\u4e0d\u540c\u7c7b\u578b\u7684\u89c2\u6d4b\u7ea6\u675f\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>IMU\uff1a\u63d0\u4f9b\u9ad8\u9891\u7684\u59ff\u6001\u548c\u901f\u5ea6\u9884\u6d4b\uff08200-1000Hz\uff09\uff0c\u77ed\u65f6\u95f4\u5185\u7684\u76f8\u5bf9\u8fd0\u52a8\u7ea6\u675f<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>LiDAR\uff1a\u63d0\u4f9b\u7cbe\u786e\u7684\u51e0\u4f55\u76f8\u5bf9\u4f4d\u59ff\u7ea6\u675f\uff0c\u5bf9\u5e73\u79fb\u548c\u65cb\u8f6c\u90fd\u6709\u826f\u597d\u89c2\u6d4b<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Camera\uff1a\u63d0\u4f9b\u89c6\u89c9\u91cd\u6295\u5f71\u7ea6\u675f\uff0c\u5728\u51e0\u4f55\u9000\u5316\u573a\u666f\u4e0b\u8865\u5145\u7eb9\u7406\u4fe1\u606f<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728ESKF\u7684\u66f4\u65b0\u6b65\u9aa4\u4e2d\uff0cFAST-LIVO\u6839\u636e\u5f53\u524d\u73af\u5883\u52a8\u6001\u8c03\u6574\u5404\u4f20\u611f\u5668\u7684\u6743\u91cd\u3002\u5f53\u6fc0\u5149\u70b9\u4e91\u6b63\u5e38\u65f6\uff0c\u4e3b\u8981\u4f9d\u8d56LiDAR\u89c2\u6d4b\uff1b\u5f53\u68c0\u6d4b\u5230\u6fc0\u5149\u9000\u5316\u65f6\uff0c\u81ea\u52a8\u589e\u52a0\u89c6\u89c9\u89c2\u6d4b\u7684\u6743\u91cd\u3002\u8fd9\u79cd\u81ea\u9002\u5e94\u673a\u5236\u4f7f\u5f97\u7cfb\u7edf\u5728\u591a\u79cd\u73af\u5883\u4e0b\u90fd\u80fd\u4fdd\u6301\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u7684\u72b6\u6001\u5411\u91cf\u5728FAST-LIO\u7684\u57fa\u7840\u4e0a\u589e\u52a0\u4e86\u89c6\u89c9\u76f8\u5173\u72b6\u6001\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, T_cam_imu, inv_expo]<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)<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)<br>&nbsp;&nbsp;&nbsp;&nbsp;T_cam_imu: \u76f8\u673a\u5230IMU\u7684\u5916\u53c2 (6D)<br>&nbsp;&nbsp;&nbsp;&nbsp;inv_expo: \u9006\u66dd\u5149\u65f6\u95f4 (1D)<\/p>\n<\/blockquote>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.3\u89c6\u89c9\u7279\u5f81\u878d\u5408<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u7684\u89c6\u89c9\u901a\u9053\u91c7\u7528\u57fa\u4e8e\u7a00\u758f\u76f4\u63a5\u6cd5\u7684\u8f7b\u91cf\u7ea7\u65b9\u6848\u3002\u4e0e\u4f20\u7edf\u7684\u7279\u5f81\u70b9\u5339\u914d\u4e0d\u540c\uff0cFAST-LIVO\u4f7f\u7528\u5149\u5ea6\u8bef\u5dee\uff08\u89c6\u89c9\u91cd\u6295\u5f71\u8bef\u5dee\uff09\u4f5c\u4e3a\u89c2\u6d4b\u6b8b\u5dee\uff0c\u76f4\u63a5\u878d\u5408\u5230ESKF\u4e2d\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u89c6\u89c9\u5904\u7406\u7684\u5177\u4f53\u6d41\u7a0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7279\u5f81\u63d0\u53d6\uff1a\u5c06\u56fe\u50cf\u5212\u5206\u4e3a\u7f51\u683c\uff08grid\uff09\uff0c\u5728\u6bcf\u4e2a\u7f51\u683c\u4e2d\u63d0\u53d6\u6700\u4eae\u7684\u89d2\u70b9\u4f5c\u4e3a\u7279\u5f81\u70b9<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7279\u5f81\u8ddf\u8e2a\uff1a\u901a\u8fc7\u9006\u5408\u6210\u5149\u6d41\u6cd5\uff08Inverse Compositional Optical Flow\uff09\u5728\u8fde\u7eed\u5e27\u4e4b\u95f4\u8ddf\u8e2a\u7279\u5f81\u70b9<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u91cd\u6295\u5f71\uff1a\u5c06\u5730\u56fe\u4e2d\u76843D\u7279\u5f81\u70b9\u6295\u5f71\u5230\u5f53\u524d\u56fe\u50cf\u5e73\u9762\uff0c\u8ba1\u7b97\u5149\u5ea6\u8bef\u5dee\uff08\u50cf\u7d20\u7070\u5ea6\u5dee\uff09<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>ESKF\u66f4\u65b0\uff1a\u5c06\u5149\u5ea6\u8bef\u5dee\u4f5c\u4e3a\u89c2\u6d4b\u6b8b\u5dee\uff0c\u66f4\u65b0\u72b6\u6001\u4f30\u8ba1<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u7684\u89c6\u89c9\u7279\u5f81\u63d0\u53d6\u7b56\u7565\u975e\u5e38\u9ad8\u6548\u3002\u5b83\u4e0d\u9700\u8981\u5bf9\u6bcf\u5e27\u56fe\u50cf\u8fdb\u884c\u5b8c\u6574\u7684\u7279\u5f81\u63d0\u53d6\uff0c\u800c\u662f\u53ea\u5728\u9700\u8981\u65f6\u4ece\u4f53\u7d20\u5730\u56fe\u4e2d\u68c0\u7d22\u89c6\u89c9\u7279\u5f81\u70b9\u3002\u8fd9\u5927\u5927\u964d\u4f4e\u4e86\u8ba1\u7b97\u5f00\u9500\uff0c\u4f7f\u5f97\u89c6\u89c9\u901a\u9053\u53ef\u4ee5\u5728\u666e\u901aCPU\u4e0a\u5b9e\u65f6\u8fd0\u884c\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u89c6\u89c9\u901a\u9053\u7684\u5173\u952e\u53c2\u6570\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>visual:<br>\u00a0\u00a0\u00a0\u00a0enable: true \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u542f\u7528\u89c6\u89c9\u901a\u9053<br><br>image_topic: \"\/camera\/image_raw\" # \u76f8\u673a\u8bdd\u9898\u540d<br><br>max_iterations: 5 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u89c6\u89c9ESKF\u6700\u5927\u8fed\u4ee3\u6b21\u6570<br>img_point_cov: 100 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u89c6\u89c9\u70b9\u534f\u65b9\u5dee<br><br>normal_en: true \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u542f\u7528\u6cd5\u5411\u91cf\u7ea6\u675f<br><br>raycast_en: false \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u542f\u7528\u5149\u7ebf\u6295\u5c04<br><br>exposure_estimate_en: true \u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u5728\u7ebf\u4f30\u8ba1\u66dd\u5149\u65f6\u95f4<br><br>grid_size: 5 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u7279\u5f81\u63d0\u53d6\u7f51\u683c\u5927\u5c0f<br><br>grid_n_height: 17 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u7279\u5f81\u63d0\u53d6\u7f51\u683c\u9ad8\u5ea6<br><br>patch_pyrimid_level: 3 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u56fe\u50cf\u91d1\u5b57\u5854\u5c42\u6570<br><br>patch_size: 8 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u56fe\u50cf\u8865\u4e01\u5927\u5c0f<br><br>outlier_threshold: 1000 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u5916\u70b9\u9608\u503c<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.4\u9000\u5316\u573a\u666f\u68c0\u6d4b<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u6fc0\u5149SLAM\u5728\u9000\u5316\u573a\u666f\u4e2d\u5bb9\u6613\u5931\u8d25\u3002\u5178\u578b\u7684\u9000\u5316\u573a\u666f\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u957f\u76f4\u8d70\u5eca\uff1a\u70b9\u4e91\u5728\u8d70\u5eca\u65b9\u5411\u7f3a\u4e4f\u51e0\u4f55\u591a\u6837\u6027\uff0c\u65e0\u6cd5\u7ea6\u675f\u6a2a\u5411\u5e73\u79fb<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u96a7\u9053\uff1a\u4e0e\u8d70\u5eca\u7c7b\u4f3c\uff0c\u4e14\u901a\u5e38\u6ca1\u6709\u89c6\u89c9\u7eb9\u7406<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7a7a\u65f7\u5927\u5e73\u5c42\uff1a\u5927\u9762\u79ef\u5e73\u9762\uff0c\u7f3a\u4e4f\u89d2\u70b9\u548c\u5e73\u9762\u7279\u5f81\u7684\u7ec4\u5408<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u91cd\u590d\u7ed3\u6784\uff1a\u591a\u4e2a\u76f8\u4f3c\u7684\u73af\u5883\uff0c\u5bb9\u6613\u4ea7\u751f\u8bef\u5339\u914d<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u901a\u8fc7\u5206\u6790\u70b9\u4e91\u7684\u7279\u5f81\u503c\u6765\u5224\u65ad\u662f\u5426\u9000\u5316\u3002\u5177\u4f53\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5bf9\u5f53\u524d\u5e27\u70b9\u4e91\u7684\u534f\u65b9\u5dee\u77e9\u9635\u8fdb\u884c\u7279\u5f81\u503c\u5206\u89e3<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5982\u679c\u6700\u5c0f\u7279\u5f81\u503c\u5c0f\u4e8e\u9608\u503c\uff0c\u8bf4\u660e\u5f53\u524d\u73af\u5883\u5728\u67d0\u4e2a\u65b9\u5411\u7f3a\u4e4f\u51e0\u4f55\u7ea6\u675f<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7cfb\u7edf\u4f1a\u81ea\u52a8\u964d\u4f4e\u8be5\u65b9\u5411\u7684\u89c2\u6d4b\u6743\u91cd\uff0c\u540c\u65f6\u589e\u52a0\u89c6\u89c9\u901a\u9053\u7684\u6743\u91cd<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u9000\u5316\u68c0\u6d4b\u7684\u9608\u503c\u53ef\u4ee5\u901a\u8fc7\u53c2\u6570\u8c03\u6574\u3002\u9608\u503c\u8bbe\u7f6e\u8fc7\u5c0f\u4f1a\u5bfc\u81f4\u9000\u5316\u68c0\u6d4b\u4e0d\u654f\u611f\uff0c\u9608\u503c\u8bbe\u7f6e\u8fc7\u5927\u5219\u53ef\u80fd\u8bef\u5224\u6b63\u5e38\u573a\u666f\u4e3a\u9000\u5316\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.5 VoxelOctoTree\u516b\u53c9\u6811\u4f53\u7d20\u5730\u56fe<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u4f7f\u7528VoxelOctoTree\uff08\u516b\u53c9\u6811\u4f53\u7d20\u5730\u56fe\uff09\u4f5c\u4e3a\u5168\u5c40\u5730\u56fe\u7684\u6570\u636e\u7ed3\u6784\u3002\u516b\u53c9\u6811\u662f\u4e00\u79cd\u7a7a\u95f4\u5212\u5206\u6570\u636e\u7ed3\u6784\uff0c\u5b83\u5c06\u4e09\u7ef4\u7a7a\u95f4\u9012\u5f52\u5730\u5212\u5206\u4e3a8\u4e2a\u5b50\u7acb\u65b9\u4f53\uff0c\u6bcf\u4e2a\u8282\u70b9\u67098\u4e2a\u5b50\u8282\u70b9\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u516b\u53c9\u6811\u7684\u5de5\u4f5c\u539f\u7406\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6839\u8282\u70b9\u4ee3\u8868\u6574\u4e2a\u4e09\u7ef4\u7a7a\u95f4<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6bcf\u4e2a\u8282\u70b9\u5982\u679c\u5305\u542b\u592a\u591a\u70b9\uff0c\u5c31\u5206\u88c2\u4e3a8\u4e2a\u5b50\u8282\u70b9<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6bcf\u4e2a\u5b50\u8282\u70b9\u4ee3\u8868\u7236\u8282\u70b9\u7a7a\u95f4\u76841\/8<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f53\u8282\u70b9\u5185\u7684\u70b9\u6570\u4f4e\u4e8e\u9608\u503c\u65f6\uff0c\u53ef\u4ee5\u5408\u5e76\u5b50\u8282\u70b9<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u76f8\u6bd4FAST-LIO\u7684ikd-Tree\uff0cVoxelOctoTree\u7684\u4f18\u52bf\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5185\u5b58\u66f4\u7d27\u51d1\uff1a\u4e0d\u9700\u8981\u5b58\u50a8\u5206\u5272\u5e73\u9762\u4fe1\u606f\uff0c\u53ea\u9700\u8981\u5b58\u50a8\u4f53\u7d20\u4e2d\u5fc3\u70b9\u548c\u5b50\u8282\u70b9\u6307\u9488<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u67e5\u8be2\u66f4\u5feb\uff1a\u5c42\u6b21\u5316\u7684\u7ed3\u6784\u4f7f\u5f97\u8fd1\u90bb\u641c\u7d22\u66f4\u9ad8\u6548\uff0c\u65f6\u95f4\u590d\u6742\u5ea6\u63a5\u8fd1O(log n)<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u52a8\u6001\u66f4\u65b0\u66f4\u7075\u6d3b\uff1a\u53ef\u4ee5\u65b9\u4fbf\u5730\u589e\u5220\u4f53\u7d20\u8282\u70b9\uff0c\u4e0d\u9700\u8981\u91cd\u65b0\u5e73\u8861\u6811\u7ed3\u6784<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7a7a\u95f4\u5212\u5206\u66f4\u5747\u5300\uff1a\u516b\u53c9\u6811\u7684\u89c4\u5219\u5212\u5206\u907f\u514d\u4e86k-d\u6811\u5728\u6570\u636e\u5206\u5e03\u4e0d\u5747\u65f6\u7684\u6027\u80fd\u9000\u5316<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u7684VoxelOctoTree\u8fd8\u7ef4\u62a4\u4e86\u6bcf\u4e2a\u4f53\u7d20\u7684\u5e73\u9762\u4fe1\u606f\uff08\u6cd5\u5411\u91cf\u548c\u534f\u65b9\u5dee\uff09\uff0c\u7528\u4e8e\u6fc0\u5149\u70b9\u4e91\u7684\u7279\u5f81\u5339\u914d\u548c\u89c6\u89c9\u7279\u5f81\u7684\u91cd\u6295\u5f71\u3002\u5730\u56fe\u7684\u964d\u91c7\u6837\u5206\u8fa8\u7387\u7531voxel_size\u53c2\u6570\u63a7\u5236\uff08\u901a\u5e380.5m\uff09\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>2.6\u66dd\u5149\u8865\u507f<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u7684\u4e00\u4e2a\u72ec\u7279\u8bbe\u8ba1\u662f\u5728\u7ebf\u66dd\u5149\u8865\u507f\u3002\u76f8\u673a\u5728\u81ea\u52a8\u66dd\u5149\u6a21\u5f0f\u4e0b\uff0c\u66dd\u5149\u65f6\u95f4\u4f1a\u968f\u73af\u5883\u5149\u53d8\u5316\u800c\u53d8\u5316\uff0c\u8fd9\u4f1a\u5f71\u54cd\u89c6\u89c9\u7279\u5f81\u63d0\u53d6\u7684\u7a33\u5b9a\u6027\u3002FAST-LIVO\u5c06\u9006\u66dd\u5149\u65f6\u95f4\uff08inverse exposure time\uff09\u52a0\u5165\u72b6\u6001\u5411\u91cf\uff0c\u5728ESKF\u4e2d\u5728\u7ebf\u4f30\u8ba1\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f53\u73af\u5883\u5149\u53d8\u6697\u65f6\uff0c\u81ea\u52a8\u589e\u52a0\u66dd\u5149\u65f6\u95f4\uff0c\u4fdd\u6301\u56fe\u50cf\u4eae\u5ea6\u7a33\u5b9a<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f53\u73af\u5883\u5149\u53d8\u4eae\u65f6\uff0c\u81ea\u52a8\u51cf\u5c11\u66dd\u5149\u65f6\u95f4\uff0c\u907f\u514d\u8fc7\u66dd<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u66dd\u5149\u4f30\u8ba1\u7684\u534f\u65b9\u5dee\u7531inv_expo_cov\u53c2\u6570\u63a7\u5236<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u66dd\u5149\u8865\u507f\u4f7f\u5f97FAST-LIVO\u5728\u5149\u7167\u53d8\u5316\u8f83\u5927\u7684\u73af\u5883\u4e2d\uff08\u5982\u5ba4\u5185\u5916\u5207\u6362\u3001\u96a7\u9053\u51fa\u5165\u53e3\uff09\u4e5f\u80fd\u4fdd\u6301\u7a33\u5b9a\u7684\u89c6\u89c9\u7279\u5f81\u8ddf\u8e2a\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-LIVO\u76f8\u6bd4FAST-LIO\u589e\u52a0\u4e86\u76f8\u673a\u8bdd\u9898\uff1a<\/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>\/camera\/image_raw<\/td><td>sensor_msgs\/Image<\/td><td>\u8ba2\u9605<\/td><td>\u76f8\u673a\u56fe\u50cf\u6570\u636e<\/td><\/tr><tr><td>\/camera\/camera_info<\/td><td>sensor_msgs\/CameraInfo<\/td><td>\u8ba2\u9605<\/td><td>\u76f8\u673a\u5185\u53c2\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_effected<\/td><td>sensor_msgs\/PointCloud2<\/td><td>\u53d1\u5e03<\/td><td>\u6709\u6548\u7ea6\u675f\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>\/Laser_map<\/td><td>sensor_msgs\/PointCloud2<\/td><td>\u53d1\u5e03<\/td><td>\u5c40\u90e8\u5730\u56fe\u70b9\u4e91<\/td><\/tr><tr><td>\/rgb_img<\/td><td>sensor_msgs\/Image<\/td><td>\u53d1\u5e03<\/td><td>RGB\u56fe\u50cf\uff08\u7528\u4e8e\u53ef\u89c6\u5316\uff09<\/td><\/tr><\/tbody><\/table><\/figure>\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-LIVO\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><\/tbody><\/table><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.3\u53c2\u6570\u914d\u7f6e\u8be6\u89e3<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u7684\u53c2\u6570\u6587\u4ef6\u76f8\u6bd4FAST-LIO\u589e\u52a0\u4e86\u89c6\u89c9\u76f8\u5173\u914d\u7f6e\u3002\u4ee5\u4e0b\u662f\u5b8c\u6574\u7684\u53c2\u6570\u8bf4\u660e\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>common:\nlid_topic: \u00a0\"\/livox\/lidar\" \u00a0\u00a0\u00a0\u00a0\u00a0# LiDAR\u8bdd\u9898\u540d\nimu_topic: \u00a0\"\/livox\/imu\" \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# IMU\u8bdd\u9898\u540d\nimg_topic: \u00a0\"\/camera\/image_raw\" \u00a0# \u76f8\u673a\u8bdd\u9898\u540d\nimg_en: 1 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u542f\u7528\u76f8\u673a: 1=\u542f\u7528, 0=\u7981\u7528\nlidar_en: 1 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u542f\u7528LiDAR: 1=\u542f\u7528, 0=\u7981\u7528\npreprocess:\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\u00a0blind: 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)\n\nvio:\n\u00a0\u00a0\u00a0\u00a0normal_en: true \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u542f\u7528\u6cd5\u5411\u91cf\u7ea6\u675f\n\ninverse_composition_en: false \u00a0\u00a0# \u662f\u5426\u4f7f\u7528\u9006\u5408\u6210\u5149\u6d41\u6cd5\n\nmax_iterations: 5 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u89c6\u89c9ESKF\u6700\u5927\u8fed\u4ee3\u6b21\u6570\n\nimg_point_cov: 100 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u89c6\u89c9\u70b9\u534f\u65b9\u5dee\n\nraycast_en: false \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u542f\u7528\u5149\u7ebf\u6295\u5c04\n\nexposure_estimate_en: true \u00a0\u00a0\u00a0\u00a0\u00a0# \u662f\u5426\u5728\u7ebf\u4f30\u8ba1\u66dd\u5149\u65f6\u95f4\n\ninv_expo_cov: 0.2 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u9006\u66dd\u5149\u65f6\u95f4\u534f\u65b9\u5dee\n\ngrid_size: 5 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u7279\u5f81\u63d0\u53d6\u7f51\u683c\u5927\u5c0f\n\ngrid_n_height: 17 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u7279\u5f81\u63d0\u53d6\u7f51\u683c\u9ad8\u5ea6\n\npatch_pyrimid_level: 3 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u56fe\u50cf\u91d1\u5b57\u5854\u5c42\u6570\n\npatch_size: 8 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u56fe\u50cf\u8865\u4e01\u5927\u5c0f\n\noutlier_threshold: 1000 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u5916\u70b9\u9608\u503c\n\ntime_offset:\nexposure_time_init: 0.0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u521d\u59cb\u66dd\u5149\u65f6\u95f4\n\nimg_time_offset: 0.0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u56fe\u50cf\u65f6\u95f4\u504f\u79fb\n\nimu_time_offset: 0.0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# IMU\u65f6\u95f4\u504f\u79fb\n\nlidar_time_offset: 0.0 \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# LiDAR\u65f6\u95f4\u504f\u79fbextrin_calib:\n\u00a0\u00a0\u00a0\u00a0extrinsic_T: &#91;0, 0, 0] \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# LiDAR\u5230IMU\u7684\u5e73\u79fb\u5916\u53c2\n\nextrinsic_R: &#91;1,0,0, 0,1,0, 0,0,1] \u00a0# LiDAR\u5230IMU\u7684\u65cb\u8f6c\u5916\u53c2\nPcl: &#91;0, 0, 0] \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0# \u76f8\u673a\u5230LiDAR\u7684\u5e73\u79fb\u5916\u53c2\n\nRcl: &#91;1,0,0, 0,1,0, 0,0,1] \u00a0\u00a0\u00a0\u00a0\u00a0# \u76f8\u673a\u5230LiDAR\u7684\u65cb\u8f6c\u5916\u53c2\nmapping:\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\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\n\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\n\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\u5deeb_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\u58f0fov_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)\npcd_save:\n\u00a0\u00a0\u00a0\u00a0pcd_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\">\u89c6\u89c9\u76f8\u5173\u53c2\u6570\u8c03\u4f18\u5efa\u8bae\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>grid_size\uff1a\u7279\u5f81\u63d0\u53d6\u7f51\u683c\u5927\u5c0f\u3002\u8d8a\u5c0f\u63d0\u53d6\u7684\u7279\u5f81\u70b9\u8d8a\u591a\uff0c\u4f46\u8ba1\u7b97\u91cf\u8d8a\u5927\u3002\u5efa\u8bae3-8<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>patch_size\uff1a\u56fe\u50cf\u8865\u4e01\u5927\u5c0f\u3002\u8d8a\u5927\u7279\u5f81\u8d8a\u7a33\u5b9a\uff0c\u4f46\u8ba1\u7b97\u91cf\u8d8a\u5927\u3002\u5efa\u8bae6-10<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>patch_pyrimid_level\uff1a\u56fe\u50cf\u91d1\u5b57\u5854\u5c42\u6570\u3002\u8d8a\u591a\u5bf9\u5927\u8fd0\u52a8\u8d8a\u9c81\u68d2\uff0c\u4f46\u8ba1\u7b97\u91cf\u8d8a\u5927\u3002\u5efa\u8bae2-4<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>exposure_estimate_en\uff1a\u662f\u5426\u5728\u7ebf\u4f30\u8ba1\u66dd\u5149\u65f6\u95f4\u3002\u5149\u7167\u53d8\u5316\u5927\u7684\u573a\u666f\u5efa\u8bae\u5f00\u542f<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>img_point_cov\uff1a\u89c6\u89c9\u70b9\u534f\u65b9\u5dee\u3002\u8d8a\u5c0f\u89c6\u89c9\u7ea6\u675f\u8d8a\u5f3a\u3002\u5efa\u8bae50-200<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.4\u76f8\u673a\u5185\u53c2\u4e0e\u5916\u53c2\u6807\u5b9a<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u9700\u8981\u51c6\u786e\u7684\u76f8\u673a\u5185\u53c2\u548c\u76f8\u673a-\u5916\u53c2\u3002\u63a8\u8350\u4f7f\u7528Kalibr\u5de5\u5177\u5305\u8fdb\u884c\u6807\u5b9a\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u5b89\u88c5Kalibr<br>sudo apt-get install ros-noetic-kalibr<br><br># \u5f55\u5236\u6807\u5b9a\u6570\u636e\uff08\u591a\u68cb\u76d8\u683c\u6807\u5b9a\u677f\uff09rosbag record \/camera\/image_raw \/camera\/camera_info \/livox\/imu<br><br># \u6807\u5b9a\u76f8\u673a\u5185\u53c2kalibr_calibrate_cameras --cameras cam0 --target aprilgrid.yaml \\<br>&nbsp;&nbsp;--bag calibration.bag<br><br># \u6807\u5b9a\u76f8\u673a-IMU\u5916\u53c2kalibr_calibrate_imu_camera --cam cam0 --imu imu0 \\<br>&nbsp;&nbsp;--target aprilgrid.yaml --bag calibration.bag --bag-from-to 5 50<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u6807\u5b9a\u5b8c\u6210\u540e\uff0c\u5c06\u5f97\u5230\u7684\u5185\u53c2\u586b\u5165\u76f8\u673a\u9a71\u52a8\u8282\u70b9\uff0c\u5916\u53c2\u586b\u5165YAML\u914d\u7f6e\u6587\u4ef6\u7684extrin_calib\u90e8\u5206\u3002FAST-LIVO\u4e5f\u63a8\u8350\u4f7f\u7528FAST-Calib\u5de5\u5177\u5305\u8fdb\u884cLiDAR-Camera\u8054\u5408\u6807\u5b9a\uff0c\u5176\u8f93\u51fa\u53c2\u6570\u53ef\u4ee5\u76f4\u63a5\u586b\u5165YAML\u6587\u4ef6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u6807\u5b9a\u7cbe\u5ea6\u4e0d\u591f\uff0cFAST-LIVO\u4e5f\u652f\u6301\u5728\u7ebf\u4f30\u8ba1\u76f8\u673a-IMU\u5916\u53c2\uff0c\u4f46\u521d\u59cb\u503c\u4e0d\u80fd\u504f\u5dee\u592a\u5927\uff0c\u5426\u5219\u4f1a\u6536\u655b\u5230\u9519\u8bef\u503c\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.5\u591a\u96f7\u8fbe\u578b\u53f7\u9002\u914d<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u652f\u6301\u7684\u96f7\u8fbe\u578b\u53f7\u4e0eFAST-LIO\u76f8\u540c\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<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\">FAST-LIVO\u7684\u79bb\u7ebf\u5efa\u56fe\u6d41\u7a0b\u4e0eFAST-LIO\u7c7b\u4f3c\uff0c\u4f46\u9700\u8981\u989d\u5916\u63d0\u4f9b\u76f8\u673a\u6570\u636e\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u7ec8\u7aef1: \u542f\u52a8FAST-LIVO<br>roslaunch fast_livo mapping_avia.launch rviz:=false<br><br># \u7ec8\u7aef2: \u64ad\u653erosbag\uff08\u5305\u542bLiDAR + IMU + Camera\u6570\u636e\uff09rosbag play -r 10 your_bag_file.bag<br><br># \u64ad\u5b8c\u540e\u6309Ctrl+C\u4fdd\u5b58PCD<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u6ce8\u610f\uff1a\u5982\u679cbag\u5305\u4e2d\u4e0d\u5305\u542b\u76f8\u673a\u6570\u636e\uff0cFAST-LIVO\u4f1a\u81ea\u52a8\u9000\u5316\u4e3aLIO\u6a21\u5f0f\uff0c\u53ea\u4f7f\u7528LiDAR\u548cIMU\u8fdb\u884c\u5efa\u56fe\u3002\u5982\u679c\u8fdeIMU\u6570\u636e\u4e5f\u6ca1\u6709\uff0c\u5219\u4f1a\u9000\u5316\u4e3aLO\u6a21\u5f0f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u56db\u3001FAST-LIO vs FAST-LIVO\u5bf9\u6bd4<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>\u7279\u6027<\/strong><\/td><td><strong>FAST-LIO<\/strong><\/td><td><strong>FAST-LIVO<\/strong><\/td><\/tr><tr><td>\u4f20\u611f\u5668<\/td><td>LiDAR + IMU<\/td><td>LiDAR + IMU + Camera<\/td><\/tr><tr><td>\u5730\u56fe\u7ed3\u6784<\/td><td>ikd-Tree<\/td><td>VoxelOctoTree\uff08\u516b\u53c9\u6811\uff09<\/td><\/tr><tr><td>\u9000\u5316\u68c0\u6d4b<\/td><td>\u65e0<\/td><td>\u6709\uff0c\u81ea\u52a8\u5207\u6362\u5230\u89c6\u89c9\u901a\u9053<\/td><\/tr><tr><td>\u66dd\u5149\u8865\u507f<\/td><td>\u65e0<\/td><td>\u6709\uff0c\u5728\u7ebf\u4f30\u8ba1\u9006\u66dd\u5149\u65f6\u95f4<\/td><\/tr><tr><td>\u8fd0\u884c\u9891\u7387<\/td><td>100Hz<\/td><td>100Hz\uff08\u6fc0\u5149\u4e3a\u4e3b\uff09<\/td><\/tr><tr><td>\u5185\u5b58\u5360\u7528<\/td><td>\u8f83\u9ad8<\/td><td>\u8f83\u4f4e\uff08\u516b\u53c9\u6811\u66f4\u7d27\u51d1\uff09<\/td><\/tr><tr><td>\u9002\u7528\u573a\u666f<\/td><td>\u4e00\u822c\u73af\u5883<\/td><td>\u542b\u9000\u5316\u573a\u666f\u7684\u590d\u6742\u73af\u5883<\/td><\/tr><tr><td>ROS\u8bdd\u9898<\/td><td>LiDAR + IMU<\/td><td>LiDAR + IMU + Camera<\/td><\/tr><tr><td>\u53c2\u6570\u590d\u6742\u5ea6<\/td><td>\u8f83\u4f4e<\/td><td>\u8f83\u9ad8\uff08\u589e\u52a0\u89c6\u89c9\u53c2\u6570\uff09<\/td><\/tr><tr><td>\u5de5\u4f5c\u6a21\u5f0f<\/td><td>LIO<\/td><td>LIVO \/ LIO \/ LO\uff08\u81ea\u52a8\u5207\u6362\uff09<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4e94\u3001\u5e38\u89c1\u95ee\u9898\u4e0e\u6392\u67e5<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>5.1\u89c6\u89c9\u901a\u9053\u4e0d\u5de5\u4f5c<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u68c0\u67e5\u4ee5\u4e0b\u51e0\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u786e\u8ba4bag\u5305\u4e2d\u5305\u542b\u76f8\u673a\u6570\u636e\uff08rostopic list\u68c0\u67e5\uff09<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u786e\u8ba4\u76f8\u673a\u8bdd\u9898\u540d\u4e0e\u914d\u7f6e\u4e00\u81f4<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u786e\u8ba4img_en\u8bbe\u4e3a1<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u786e\u8ba4\u76f8\u673a\u5185\u53c2\u6b63\u786e\u586b\u5199<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>5.2\u9000\u5316\u68c0\u6d4b\u8fc7\u4e8e\u654f\u611f<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5982\u679c\u7cfb\u7edf\u9891\u7e41\u5207\u6362\u5230\u89c6\u89c9\u901a\u9053\uff0c\u53ef\u80fd\u662f\u9000\u5316\u68c0\u6d4b\u9608\u503c\u8fc7\u9ad8\u3002\u53ef\u4ee5\u8c03\u6574\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u589e\u5927\u9000\u5316\u68c0\u6d4b\u7684\u7279\u5f81\u503c\u9608\u503c<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u964d\u4f4e\u89c6\u89c9\u901a\u9053\u7684\u6743\u91cd<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>5.3\u89c6\u89c9\u7279\u5f81\u8ddf\u8e2a\u4e22\u5931<\/strong><\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u89c6\u89c9\u7279\u5f81\u8ddf\u8e2a\u4e22\u5931\u7684\u5e38\u89c1\u539f\u56e0\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u76f8\u673a\u66dd\u5149\u65f6\u95f4\u8fc7\u957f\uff0c\u5bfc\u81f4\u8fd0\u52a8\u6a21\u7cca<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u73af\u5883\u7f3a\u4e4f\u7eb9\u7406\uff08\u767d\u5899\u3001\u7eaf\u8272\u5730\u9762\uff09<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u76f8\u673a\u5e27\u7387\u8fc7\u4f4e\uff08\u5efa\u8bae\u81f3\u5c1120Hz\uff09<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5149\u7167\u53d8\u5316\u8fc7\u5927\uff08\u5f00\u542fexposure_estimate_en\u53ef\u7f13\u89e3\uff09<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>5.4\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>5.5\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>\u76f8\u673a\u548cLiDAR\u7684\u5916\u53c2\u4e0d\u51c6\u786e\uff0c\u9700\u8981\u91cd\u65b0\u6807\u5b9a<\/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\u5f00\u542f\u89c6\u89c9\u901a\u9053\u53ef\u7f13\u89e3<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">FAST-LIVO\u8bba\u6587: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001FAST-LIVO\u662f\u4ec0\u4e48\uff1f FAST-LIVO\uff08Fast LiDAR-Inertial-Visual Od [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[5],"tags":[],"class_list":["post-545","post","type-post","status-publish","format-standard","hentry","category-knowledge"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/posts\/545","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ziyuan.work\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=545"}],"version-history":[{"count":1,"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/posts\/545\/revisions"}],"predecessor-version":[{"id":546,"href":"https:\/\/ziyuan.work\/index.php?rest_route=\/wp\/v2\/posts\/545\/revisions\/546"}],"wp:attachment":[{"href":"https:\/\/ziyuan.work\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=545"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ziyuan.work\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=545"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ziyuan.work\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=545"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}