Eq-LIO is a tightly coupled LIO framework based on the equivariant filter and our code is implemented on S-FAST_LIO.
Ubuntu >= 16.04.
PCL >= 1.8, Eigen >= 3.3.4.
Follow livox_ros_driver Installation.
Source：Add the line source $Licox_ros_driver_dir$/devel/setup.bash to the end of file ~/.bashrc, where $Licox_ros_driver_dir$ is the directory of the livox ros driver workspace (should be the ws_livox directory if you completely followed the livox official document).
We use the old version of Sophus
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build
cd build
cmake ../ -DUSE_BASIC_LOGGING=ON
make
sudo make install
Clone the repository and catkin_make:
cd ~/catkin_ws/src
git clone https://github.com/Eliaul/Eq-LIO.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
You can use the Avia Rosbags provided by FAST-LIO.
Run:
roslaunch eq-lio mapping_avia.launch
rosbag play YOUR_DOWNLOADED.bag
Thanks for the authors of FAST-LIO and S-FAST-LIO.
[1] van Goor, Pieter, Tarek Hamel, and Robert Mahony. "Equivariant filter (eqf)." IEEE Transactions on Automatic Control (2022).
[2] Fornasier, Alessandro, et al. "Equivariant filter design for inertial navigation systems with input measurement biases." 2022 International Conference on Robotics and Automation (ICRA). IEEE, 2022.
If this work is helpful for your research, please consider citing:
@article{tao2024eqlio,
title={Equivariant Filter for Tightly Coupled LiDAR-Inertial Odometry},
author={Anbo Tao, Yarong Luo, Chunxi Xia, Chi Guo and Xingxing Li},
journal={arXiv preprint arXiv:2409.06948},
year={2024}
}