Skip to content

SC-LeGO-LOAM#

什么是 SC-LeGO-LOAM？#

  • SC-LeGO-LOAM 集成了 LeGO-LOAM,用于激光雷达里程计和 2 种不同的闭环方法：基于 ScanContext 和 Radius 搜索的闭环.虽然 ScanContext 正在校正较大的漂移,但基于半径搜索的方法适用于精细拼接.

存储库信息#

https://github.com/irapkaist/SC-LeGO-LOAM

必需的传感器#

  • LIDAR [VLP-16, HDL-32E, VLS-128, Ouster OS1-16, Ouster OS1-64]
  • IMU [9-AXIS]

ROS 兼容性#

  • ROS 1

依赖#

  • ROS
  • PCL
  • GTSAM
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/irapkaist/SC-LeGO-LOAM.git
cd ..
catkin_make

2) 设置参数#

  • 在 include/utility.h 上设置 imu 和 lidar 主题
  • 在 include/utility.h 上设置激光雷达属性
  • 在 include/Scancontext.h 上设置扫描上下文设置

(Do not forget to rebuild after setting parameters.)

3) 运行#

source devel/setup.bash
roslaunch lego_loam run.launch

示例结果#

其他示例#

MulRan 数据集#

引用 SC-LeGO-LOAM#

@INPROCEEDINGS { gkim-2018-iros,
  author = {Kim, Giseop and Kim, Ayoung},
  title = { Scan Context: Egocentric Spatial Descriptor for Place Recognition within {3D} Point Cloud Map },
  booktitle = { Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems },
  year = { 2018 },
  month = { Oct. },
  address = { Madrid }
}

and

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

联系#

  • 保持: Giseop Kim (paulgkim@kaist.ac.kr)