lidar_slam_3d

Details

lidar_slam_3d is a ROS package for real-time 3D slam. It is based on NDT registration algorithm. With loop detection and back-end optimization, a map with global consistency can be generated.

Example

An example map build by vlp-16.

Requirements

• pcl
• g2o

Build

cd ${catkin_workspace}/src
git clone https://github.com/ningwang1028/lidar_slam_3d.git
cd ..
catkin_make

Run

roslaunch lidar_slam_3d lidar_slam_3d.launch