About Scan2Map

[yuqJin]

The experimental results in your paper show that the performance of self-supervised LO+map has improved significantly. Now I have a question to combine the trained odometry with mapping. How did you embed this project in LOAM?

[cynosure4sure]

Hi @yuqJin!
We used this implementation of LOAM: https://github.com/laboshinl/loam_velodyne
and in LaserMapping.cpp we switched laser odometry topic "laser_odom_to_init" to our learned odometry topic. You have to take care of some frame transformations as LOAM uses a different frame convention than ROS (Z-forward, X-left and Y-up) and that's about it.