LeGO-LOAM-BOR

什么是 LeGO-LOAM-BOR？

• LeGO-LOAM-BOR 是 LeGO-LOAM 的改进版本,它提高了代码的质量,使其更具可读性和一致性.此外,通过将进程转换为多线程方法,还可以提高性能.

存储库信息

原始仓库 link

https://github.com/facontidavide/LeGO-LOAM-BOR

必需的传感器

• LIDAR [VLP-16]
• IMU [9-AXIS]

ROS 兼容性

• ROS 1

依赖

• ROS Melodic ROS Installation
• PCL PCL Installation
• Gtsam GTSAM Installation

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install

构建并运行

1) 构建

cd ~/catkin_ws/src
git clone https://github.com/facontidavide/LeGO-LOAM-BOR.git
cd ..
catkin_make

2) 设置参数

• 设置参数 LeGo-LOAM/loam_config.yaml

3) 运行

source devel/setup.bash
roslaunch lego_loam_bor run.launch rosbag:=/path/to/your/rosbag lidar_topic:=/velodyne_points

示例结果

引用 LeGO-LOAM

感谢您引用我们的 LeGO-LOAM 论文(如果您使用以下代码中的任何一个)：

@inproceedings{legoloam2018,
  title={LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain},
  author={Tixiao Shan and Brendan Englot},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4758-4765},
  year={2018},
  organization={IEEE}
}