BoW3D-LeGO-LOAM: BoW3D (2022RA-L) + LeGO-LOAM (18 IROS)

This repository is an example use-case of BoW3D, scan context and lego_loam;

Video

• Video

Examples

• TBA

How to use

• Place the directory BoW3D-LeGO-LOAM under user catkin work space
• For example,

  cd ~/catkin_ws/src
  git clone https://github.com/chengwei0427/BoW3D-LeGO-LOAM.git
  cd ..
  catkin_make
  source devel/setup.bash
  roslaunch lego_loam run.launch
  

Dependencies

• All dependencies are same as LeGO-LOAM (i.e., ROS, PCL, and GTSAM).
• We used C++14 to use std::make_unique in Scancontext.cpp but you can use C++11 with slightly modifying only that part.

Misc notes

• TBA