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hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
GNU General Public License v2.0
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About the livox data pre-process #2

Closed Desperater closed 5 years ago

Desperater commented 5 years ago

Hi，recently i get a livox sensor, due to their unique Non-repetitive Scanning Technology, the adjacent frame differs a lot, it's hard to do frame-frame match work. do you have any papers relative to this project, or do you have any introductions to their unique Non-repetitive Scanning Technology. Thanks a lot

ziv-lin commented 5 years ago

Livox LiDARs feature a unique non-repetitive scanning, where the scanning trajectory never repeats itself. This feature makes the frame-to-frame feature tracking and matching rather challenging and unreliable. In my project, I minimize the distance of point-line and point plane to solve the pose of the new scan data. In the development of this project, we mainly refer to [1] Zhang, Ji, and Sanjiv Singh. "LOAM: Lidar Odometry and Mapping in Real-time." Robotics: Science and Systems. Vol. 2. 2014.