[Paper], [Project], [Bib]. ICRA 2019.
Video: [More indoor and outdoor tests].
See Dockerfile as a reference:
git clone git@github.com:hyye/lio-mapping.git
into the src
folder of your catkin workspace.catkin build -DCMAKE_BUILD_TYPE=Release lio
or catkin_make -DCMAKE_BUILD_TYPE=Release
.Some sample data.
source devel/setup.zsh
, or setup.bash
if your prefer bash
.roslaunch lio test_indoor.launch &
.roslaunch lio map_4D_indoor.launch &
.rosbag play fast1.bag
.Try it out using docker:
docker/build_docker.sh
.docker/run_docker.sh
.rosbag play fast1.bag
, in your host machine or in the running container.Note: Visualization (rviz) can run in the running container with nvidia-docker. The Dockerfile is compatible with nvidia-docker 2.0; 1.Dockerfile with nvidia-docker 1.0.
The feature extraction, lidar-only odometry and baseline implemented were heavily derived or taken from the original LOAM and its modified version (the point_processor in our project), and one of the initialization methods and the optimization pipeline from VINS-mono. The copyright headers are retained for the relevant files.
The source code is released under GPL-3.0.