planeslam

LiDAR-based Simultaneous Localization and Mapping using Plane Features and Maps

Paper: https://arxiv.org/abs/2209.08248

@article{dai2022planeslam,
  title={PlaneSLAM: Plane-based LiDAR SLAM for Motion Planning in Structured 3D Environments},
  author={Dai, Adam and Lund, Greg and Gao, Grace},
  journal={arXiv preprint arXiv:2209.08248},
  year={2022}
}

Link to data: https://drive.google.com/drive/folders/1CuLkdZdWu234hKSdyNIMD6GkiZzECwQz?usp=sharing

Setup

For Windows, may not work on other OSes.

Clone the GitHub repository:

git clone https://github.com/Stanford-NavLab/planeslam.git

Create conda environment from .yml file:

conda env create -f environment.yml

(Alternatively, if not on Windows, create your own environement, and pip install the dependencies manually):

conda create -n planeslam python=3.7
pip install numpy scipy ipykernel ipympl plotly pandas open3d python-graphslam (matplotlib line_profiler)

Active the environment:

conda activate planeslam

Install planeslam locally from directory containing setup.py

pip install -e .