The utilization of LiDAR's intensity image for scan matching addresses the issue of degeneracy.
Thank you for citing our paper if you use any of this code or datasets.
@inproceedings{du2023real,
title={Real-Time Simultaneous Localization and Mapping with LiDAR intensity},
author={Du, Wenqiang and Beltrame, Giovanni},
booktitle={2023 International Conference on Robotics and Automation (ICRA)},
pages={4164--4170},
year={2023},
organization={IEEE}
}
- ROS noetic
- ceres-solver
$ mkdir ~/dependencies_ws $ cd ~/dependencies_ws/ $ wget -O ~/dependencies_ws/ceres.zip https://github.com/ceres-solver/ceres-solver/archive/1.14.0.zip $ apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev unzip libsuitesparse-dev $ cd ~/dependencies_ws/ && unzip ceres.zip -d ~/dependencies_ws/ $ cd /dependencies_ws/ceres-solver-1.14.0 $ mkdir ceres-bin && cd ceres-bin $ cmake .. $ sudo make install -j4
- GTSAM
$ cd ~/dependencies_ws/ $ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.1.0.zip $ unzip gtsam.zip -d ~/dependencies_ws/ $ cd ~/dependencies_ws/gtsam-4.1.0 $ mkdir build && cd build $ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF .. $ sudo make install -j4 - DBOW3
$ cd ~/dependencies_ws/ $ git clone https://github.com/rmsalinas/DBow3.git $ cd DBow3/ && mkdir build && cd build $ cmake .. $ make $ sudo make install
-
Create workspace
mkdir -p ~/catkin_ws/src -
Clone the project
cd ~/catkin_ws/src/ git clone https://github.com/SnowCarter/Intensity_based_LiDAR_SLAM.git
-
Go to the project workspace directory
cd ../ -
Compile
source /opt/ros/noetic/setup.bash catkin_make -
Launch
source devel/setup.bash roslaunch intensity_feature_tracker spot.launch rviz:=1 -
Play bag file
rosbag play xxx.bag --clock
Docker support
-
Create workspace
mkdir -p ~/catkin_ws/src -
Clone the project
cd ~/catkin_ws/src/ git clone https://github.com/SnowCarter/Intensity_based_LiDAR_SLAM.git
-
Go to the project directory
cd Intensity_based_LiDAR_SLAM/ -
Build docker image
docker build . -t intensity_lidar_slam
- Launch docker images with intensity Lidar SLAM (Terminal 1)
docker run --rm -it --net=host --privileged intensity_lidar_slam:latest /bin/bash -i -c 'roslaunch intensity_feature_tracker spot.launch rviz:=0' - Play bag file (Terminal 2)
rosbag play xxx.bag --clock - RVIZ (Terminal 3)
rosrun rviz rviz -d ~/catkin_ws/src/Intensity_based_LiDAR_SLAM/launch/rviz_setting.rviz - Show spot mesh (optional):
- rviz need to find the mesh file according to the package name, so we need to make sure this package is compiled and sourced, even you can't compile it successfully.
cd ~/catkin_ws/ catkin_make - in Terminal 3:
source ~/catkin_ws/devel/setup.bash rosrun rviz rviz -d ~/catkin_ws/src/Intensity_based_LiDAR_SLAM/launch/rviz_setting.rviz
- rviz need to find the mesh file according to the package name, so we need to make sure this package is compiled and sourced, even you can't compile it successfully.
- Onedrive: Ouster (OS0-64)
path: spot_corridor.bag version: 2.0 duration: 8:46s (526s) start: Aug 12 2022 16:25:24.06 (1660335924.06) end: Aug 12 2022 16:34:10.95 (1660336450.95) size: 8.2 GB messages: 57957 compression: lz4 [5270/5270 chunks; 53.28%] uncompressed: 15.5 GB @ 30.0 MB/s compressed: 8.2 GB @ 16.0 MB/s (53.28%) types: sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181] topics: /os_cloud_node/imu 52688 msgs : sensor_msgs/Imu /os_cloud_node/points 5269 msgs : sensor_msgs/PointCloud2
Contributions are always welcome!
I'm a Ph.D. candidate in MISTLab.
For support, email snowdwq@gmail.com.
