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RozDavid / LOL

LOL: Lidar-only Odometry and Localization in 3D point cloud maps
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How to obtain a priori point cloud map #17

Closed PigletPh closed 2 years ago

PigletPh commented 2 years ago

The work is excellent.But I have a problem,How to obtain a priori point cloud map?If used the LOAM to build prior point cloud map,it's not accurate.

RozDavid commented 2 years ago

Hey @jiu876,

I gave an answer to this question in #4, please check that first. I am happy to ellaborate more if you need more info.

Cheers, David

PigletPh commented 2 years ago

Hey @jiu876,

I gave an answer to this question in #4, please check that first. I am happy to ellaborate more if you need more info.

Cheers, David

Thanks for your answer.If I want to use my own data rather than KITTI,how to build the priori point cloud map quickly?

RozDavid commented 2 years ago

It depends if you have ground-truth information for the laser scanner or not.

If you had a dedicated sensor setup on your robot then, the process is basically the same as I wrote earlier.

If you don't have any information on the Lidar poses over the trajectory, you indeed need to use something like LOAM to obtain the map pointcloud registration poses. I would say though that in this case using this project doesn't make too much sense as the prerequisite is to have GT map to localize against.

PigletPh commented 2 years ago

Ok,thanks for your anwser! Yours,sincerely!