Online Odometry and Mapping with Vision and Velodyne
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- Опубликовано: 3 фев 2015
- Latest, improved results and the underlying software belong to Kaarta.
Please check out our commercial products:
www.kaarta.com
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... 
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Almost got in an accident at 4:22 that would have been unfortunate. Very cool too, thanks for sharing.
Hi I know this is your project and all.. and you can’t share how to make the same.
Can you please just tell what parts you used.. or what can one refer to start research in the same?
I am aware of what LIDAR is and Aware of the Hector Slam but you are doing it in 3D.. which is awesome.
can use in the mining ? for a project ,,, can convert or use the data with ACAD?
Are you just using velodyne's VeloView to process the data or are you using some other software? also does your IMU have a GPS with it?
Derek Wolfe Everything runs on Robot Operating System (ROS) in Linux. No VeloView. No GPS attached to IMU.
Unfortunately the code isn't available on ROS anymore... I was looking to toy with the Velodyne version(even maybe the V-LOAM package), is there a repo where it is available?
Frederick Ferre We cannot release the code due to commercial interests. Please try our website instead to generate 3D maps from Velodyne scanners.
www.realearth.us/3d-model-generator.html
How did you sync lidar data with IMU ?
Hello Ji Zhang, can you tell me what is the maximum rotating frequency of the used lidar?
M
20 hz, namely, 1200 RPM
Velodyne spins at 5-20Hz (to the following question).
This is really awesome man :) What is the maximum speed this scanner can support?
The system is tested at 30+ m/s speed with vision running at 50Hz and Velodyne at 5Hz. I'm guessing it can go 40+ m/s with the current setup.
***** Cool, just saw your other videos about autonomous driving, how does that go? Btw please stop by when you visit Seattle :)
great work, but if you will put more information, describing what equipment you use, how you do, it would bring much more benefit, you would have subscribers on RUclips channel became much more. And it turns out Nikola Tesla made many discoveries, but said nothing, in the end, all of his results and experiments did not bring any benefit, just disappeared.