Multi-Robot Graph SLAM using LIDAR This repository contains a ROS2 multi-robot 3D LIDAR SLAM implementation based on the hdl_graph_slam package. The package is tested on ROS2 humble and it is under active development. Check out a video of the system in action on youtube: The repositories...
Turtlebot robot equipped with multiple sensors used for localization and mapping. The system used for the octomaps creation (Figure 13) was built upon the ROS framework and the GMapping SLAM. During the online session, the 2D SLAM algorithm estimated robot pose based on data from IMU, lidar,...
Therefore, the key to using LiDAR intensities in SLAM is to obtain the incident angle between the laser beam and target surface. In a complex environment, it is difficult to obtain the incident angle robustly. This procedure also complicates the data processing in SLAM and as a result, furthe...
robotics planning multiagent-planning multirobot Updated Sep 15, 2023 C++ balcilar / Multi-Robot-Path-Planning-on-Graphs Star 94 Code Issues Pull requests Multi-Robot Path Planning on Graphs Solution by A* algorithm robot graph robotics matlab path-planning puzzle-solution multirobot Updated...
These two facts open the question of how 3D models can support 3D LiDAR long-term SLAM in indoor, GPS-denied environments. This paper proposes a methodology that leverages BIM models to create an updated map of indoor environments with sequential LiDAR measurements. Session data (pose graph-...
《MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square》(ICRA2021 ) Motivation 一是目前现有的激光SLAM算法缺乏通用性,难以在工业场景应用,二是绝大多数的激光SLAM算法依赖于点云的组织方式,比如说环(ring)等,三是现有的激光SLAM算法不适用与新型的激光雷达(窄视角的机械雷达和固态雷达),四是目前很...
In contrast, the ground truth is defined in the robotic arm’s coordinate system where the origin is at the base of the robot stand. Furthermore, some SLAM algorithms use right-handed coordinate systems (e.g. ARCore), but others assume left-handed ones. Therefore, we need to apply ...
Robot Learning Lab, University of Freiburg, Freiburg, Germany Maximilian Luz Institute of Information Security, University of Stuttgart, Stuttgart, Germany Marc Rivinius Corresponding authors Correspondence to Azin Jahedi or Maximilian Luz. Additional information Communicated by Oliver Zendel. Publisher's ...
Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry, ICRA 2023. [Paper] DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization, RA-L 2022. [Paper] [Code] Ground and Aerial Collaborative Mapping in Urban Environments, RA-L 2021. [Pa...
two single-line lasers use icp to calibrate the relative position relationship - multi_lidar_calibration/src/multi_lidar_calibration.cc at master · liuzm-slam/multi_lidar_calibration