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Shicong Ma

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FAST-LIO, Then Bayesian ICP, Then GTSFM

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Oct 05, 2022
Jerred Chen, Xiangcheng Hu, Shicong Ma, Jianhao Jiao, Ming Liu, Frank Dellaert

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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

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