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Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
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laboshinl Merge pull request #119 from jlblancoc/patch-1
Fix bug in eigenvalues classifying points
Latest commit 25db5dd Jan 25, 2019


Screenshot Sample map built from nsh_indoor_outdoor.bag (opened with ccViewer)

Tested with ROS Indigo and Velodyne VLP16. (Screencast)

All sources were taken from ROS documentation

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How to build with catkin

$ cd ~/catkin_ws/src/
$ git clone
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release 
$ source ~/catkin_ws/devel/setup.bash


roslaunch loam_velodyne loam_velodyne.launch

In second terminal play sample velodyne data from VLP16 rosbag:

rosbag play ~/Downloads/velodyne.bag 

Or read from velodyne VLP16 sample pcap:

roslaunch velodyne_pointcloud VLP16_points.launch pcap:="$HOME/Downloads/velodyne.pcap"


multiScanRegistration crashes right after playing bag file

Issues #71 and #7 address this problem. The current known solution is to build the same version of PCL that you have on your system from source, and set the CMAKE_PREFIX_PATH accordingly so that catkin can find it. See this issue for more details.

Quantifying Aerial LiDAR Accuracy of LOAM for Civil Engineering Applications. Derek Anthony Wolfe

ROS & Loam_velodyne

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