LeGO LOAM https://github.com/facontidavide/LeGO-LOAM-BOR Just include Scancontext.h. For details see the file mapOptmization.cpp. This example is integrated with LOAM, but our simple module (i.e., Scancontext.h) can be easily integrated with any other key-frame-based odometry (e.g....
Scan Context https://github.com/irapkaist/scancontext LeGO LOAM https://github.com/facontidavide/LeGO-LOAM-BOR Just include Scancontext.h. For details see the file mapOptmization.cpp. This example is integrated with LOAM, but our simple module (i.e., Scancontext.h) can be easily int...
https://github.com/AbangLZU/SC-LeGO-LOAM.git https://github.com/AbangLZU/ndt_localizer.git 将建图和定位分别使用lego-loam和ndt来进行,实车上的效果非常不错,所以在这里好好学习一下原理和代码: 使用sc-lego-loam建图 gitclonehttps://github.com/AbangLZU/SC-LeGO-LOAM.git 以上是git链接,直接编译...
SC-Lego-LOAM实际上应该并不对应某一篇特定的论文,而是韩国KAIST在github开源的代码,其实质上是融合了ScanContext和Lego LOAM两篇论文,代码及上述两篇论文的出处在这里就不赘述了,在下面的链接里。 SC-Lego-LOAMgithub.com/irapkaist/SC-LeGO-LOAM 下面正式开始,根据仓库readme的提示,启动方式为: roslaunchlego...
(*https://github.com/wh200720041/iscloam) 文中主要的贡献在于回环检测部分:根据预处理的点云数据,实时提取ISC特征,并根据这些特征进行回环检测。在发现回环后,则开始后端优化,即接收当前的边缘、平面特征,以及odom和回环信息,然后进行全局一致性优化,这里采用GTSAM完...
CMake >=3.0(Ubuntu: sudo apt-getinstallcmake) A modern compiler, i.e.,atleast gcc4.7.3on Linux. 编译 mkdir build cd build cmake ..makecheck(可以选的)make install 三、安装SC_LeGO_LOAM https://github.com/irapkaist/SC-LeGO-LOAM
LeGO LOAMhttps://github.com/facontidavide/LeGO-LOAM-BOR Just includeScancontext.h. For details see the filemapOptmization.cpp. This example is integrated with LOAM, but our simple module (i.e.,Scancontext.h) can be easily integrated with any other key-frame-based odometry (e.g., wheel...
安装LeGO LOAM cd ~/catkin_ws/src git clone https://github.com/irapkaist/SC-LeGO-LOAM cd .. catkin_make -j1 测试: 启动 roslaunch lego_loam run.launch run.launch文件中/use_sim_time,如果是仿真,设置为true,如果不是,设置为false 回放,可以指定话题 ...
三、安装SC_LeGO_LOAM 一、安装PCL 二、安装GTSAM 2.1 下载gtsam源码 gitclonehttps://bitbucket.org/gtborg/gtsam.git 1. 2.2 依赖 Boost >= 1.43 (Ubuntu: sudo apt-get install libboost-all-dev) CMake >= 3.0 (Ubuntu: sudo apt-get install cmake) ...
Scan Contexthttps://github.com/irapkaist/scancontext LIO-SAMhttps://github.com/TixiaoShan/LIO-SAM You can also use the LiDAR-only version of this project, namedSC-LeGO-LOAM. Scan Context: A fast and robust place recognition Light-weight: a single header and cpp file named "Scancontext.h...