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

翻译：为了迎接2022年的希尔蒂挑战,我们创建了两个系统,一个是建立在另一个基础上的系统。第一个系统是FL2BIPS,它使用iEKF算法FAST-LIO2和Bayesian IPCP PoseSLAM,而第二个系统是GTSFM,这是由GTSAM驱动的带有因子图后端优化的电动管道结构。