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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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Applicability for Quadcopter? #9

Closed AmineElhafsi closed 6 years ago

AmineElhafsi commented 6 years ago

Hello,

Would LeGO-LOAM be suitable to use for aerial vehicle localization/pose estimation in indoor, gps-denied settings (say, using a VLP16)? I noticed from the readme that the requirement is that the ground plane always needs to be in view. Can this requirement be relaxed in any way?

Edit: Found the note about applying LeGO-LOAM to UAVs in the conclusion of your paper - any tips on how I could go about modifying the source to accomplish this?

Thanks!

TixiaoShan commented 6 years ago

@AmineElhafsi That will involve a lot of changes in the code. But I do plan to release a version for UAV. The problem is that I don't have any data for testing. Do you have any bag files captured by UAV for sharing?

AmineElhafsi commented 6 years ago

Unfortunately at the moment I don't, but will get back to you if I record any.

TixiaoShan commented 6 years ago

Close the topic for now. Reopen once with required data.

droneboxid commented 6 years ago

hi @TixiaoShan

i have try with RSLIDAR16 with change

subLaserCloud = nh.subscribe<sensor_msgs::PointCloud2>("/rslidar_points", 1, &ImageProjection::cloudHandler, this);

but error

[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [imageProjection-5] process has died [pid 776, exit code -11,

can you let me know ? also in my case need to combine with dji_sdk/imu can you try my bag file from drone with top down lidar position

https://drive.google.com/file/d/1ab0xSVm7J2RuqiGovNFjLuf4dzFsGIqi/view?usp=sharing

thanks