lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

Repository Summary

Checkout URI https://github.com/tier4/lidar_feature_extraction.git
VCS Type git
VCS Version develop
Last Updated 2022-12-26
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

LiDAR feature-based localization

Functionalities

This package has two functionalities:

  • Map building module: constructs a map from undistorted LiDAR scans and their poses
  • Localization module: localizes LiDAR on a map

Benefits

  • LOAM-like feature based algorithm enables localization in challenging environments such as tunnels, rice fields, etc.
  • Localization on a pre-built map realizes stable and robust localization in dynamic environments

Citation

This code makes use of LIO-SAM and LeGO-LOAM.

@inproceedings{liosam2020shan,
  title={LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping},
  author={Shan, Tixiao and Englot, Brendan and Meyers, Drew and Wang, Wei and Ratti, Carlo and Rus Daniela},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={5135-5142},
  year={2020},
  organization={IEEE}
}

@inproceedings{legoloam2018shan,
  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}
}

CONTRIBUTING

No CONTRIBUTING.md found.

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository

lidar_feature_extraction repository