A Tightly Coupled 3D Lidar and Inertial Odometry and Mapping Approach
Table of Contents
Video: [More indoor and outdoor tests].
See Dockerfile as a reference:
- ROS with Ubuntu 18.04 or Ubuntu 16.04.
- PCL, the default version accompanying by ROS.
- OpenCV, the default version accompanying by ROS.
git clone firstname.lastname@example.org:hyye/lio-mapping.gitinto the
srcfolder of your catkin workspace.
catkin build -DCMAKE_BUILD_TYPE=Release lioor
Some sample data.
source devel/setup.zsh, or
setup.bashif your prefer
roslaunch lio test_indoor.launch &.
roslaunch lio map_4D_indoor.launch &.
rosbag play fast1.bag.
Try it out using docker:
rosbag play fast1.bag, in your host machine or in the running container.
The feature extraction, lidar-only odometry and baseline implemented were heavily derived or taken from the orignal LOAM and its modified version (the point_processor in our project), and one of the initialization methods and the optimization pipeline from VINS-mono. The copyright headers are retained for the relevant files.
The source code is relseased under GPL-3.0.