LOAM: Lidar Odometry and Mapping in Real-time
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- Опубликовано: 6 окт 2024
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Paper references:
J. Zhang and S. Singh. Laser-visual-inertial Odometry and Mapping with High Robustness and Low Drift. Journal of Field Robotics. vol. 35, no. 8, pp. 1242-1264, 2018.
J. Zhang and S. Singh. Low-drift and Real-time Lidar Odometry and Mapping. Autonomous Robots. vol. 41, no. 2, pp. 401-416, 2017.
J. Zhang, M. Kaess and S. Singh. A Real-time Method for Depth Enhanced Visual Odometry. Autonomous Robots. vol. 41, no. 1, pp. 31-43, 2017.
Author's homepage:
frc.ri.cmu.edu...
nice work
The speed of the stepper motor is very slow, this may influenced location if the devices move fast.
amazing and wonderful
Really awesome work!
Does LOAM or V-LOAM perform localization on a created map from a previous trial? Or does it only do state estimation and map creation on the current run?
It does state estimation and map creation on the current run, I mean you can use the LIDAR sensor and run the algorithm at real time.
Are there schematics to build the actual LOAM scanner? Id like to build one and play around with it. Awesome work, by the way!
Stephan Roth is the one who built the sensor unit. Would you please contact with him directly.
Sure thing. Thank you :-)
***** The email addy Zhang gave is the guy who made the scanner unit. The company he works for is at sensiblemachines.com and they have alotta scanners.
I tried to run this bag using loam repository of your github by building package and all that but there is no tf data publsihed b rosbag. Do you know the solution to handle that cuz without that i can't see any map or visualization?
Hello, can you please tell me how much the Hokuyo scanner costed ? Id be much appreciated.
Does this lidar use gnss and a rtk station? I would like to know if is possible to do a mapping without gnss, just the imu.
您好，你这个方法是否只能往前走，不能来回重复扫描？
can i have this sample bag file for this??
Is it possible to close the loop with this algorithm?
+JaeJun LEE Loop closure is currently done by a second algorithm offline.