SOLiD

**[IEEE RA-L]** This repository is the official code for Narrowing your FOV with **SOLiD**: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition. Hogyun Kim, Jiwon Choi, Taehu Sim, Giseop Kim, Younggun Cho^† **[Spatial AI and Robotics Lab (SPARO)](https://sites.google.com/view/sparo/%ED%99%88?authuser=0&pli=1)**

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NEWS

[November, 2024] Now, Distributed-SOLiD-SLAM code is released!!
[September, 2024] SOLiD is introduced in HeLiPR-Place-Recognition Toolbox!!
[August, 2024] Now, the SOLiD-A-LOAM code is released!!
[August, 2024] Now, the SOLiD-PyICP-SLAM code is released!!
[August, 2024] The SOLiD is added in awesome-lidar-place-recognition!!
[August, 2024] Now, the SOLiD code is released!!
[July, 2024] SOLiD is accepted in RA-L!!

TODO

[ ] Integrated with KISS-ICP: SOLiD-KISS-ICP
[ ] Integrated with LIO-SAM: SOLiD-LIO-SAM
[ ] Integrated with FAST-LIO2: SOLiD-FAST-LIO2
[ ] Integrated with LT-mapper

Note

SOLiD can be integrated with various LiDAR odometry including solid-state LiDAR and Situations (i.e. intra-session, inter-session, and multi-robot).
- Intra-session SLAM
  - Integrated with A-LOAM: SOLiD-A-LOAM
  - Integrated with a basic ICP odometry: SOLiD-PyICP-SLAM
    - This implementation is fully Python-based so slow but for educational purposes.
- Inter-session SLAM
  - (TBD) Integrated with LT-mapper
- Multi-Robot SLAM
  - Integrated with DiSCo SLAM: Distributed-SOLiD-SLAM

What are the problems with traditional LiDAR Place Recognition?

The traditional method uses a bird eye view and overlooks vertical information.
Also, because it focuses on performance, it is difficult to apply in real-time on an onboard computer.

What is the SOLiD?

SOLiD is a lightweight and fast LiDAR global descriptor for FOV constraints situations that are limited through fusion with other sensors or blocked by robot/sensor operators including mechanical components or solid-state LiDAR (e.g. Livox).

How to use the SOLiD?

Python version
- If you use the other LiDAR sensor, you modify the parameters in parser of test.py and lidar file structure in utils/point_module.py.
```
$ git clone https://github.com/sparolab/SOLiD.git
$ cd python
$ python3 test.py
```

Cpp version

If you use the other LiDAR sensor, you modify the parameters in include/solid_module.h.

$ git clone https://github.com/sparolab/SOLiD.git
$ cd cpp
$ mkdir build
$ cd build
$ cmake ..
$ make
$ ./test_solid

Utils

If you want to clip the points, you can use python/bin/point_clipper.py

$ git clone https://github.com/sparolab/SOLiD.git
$ cd python/bin/
$ python3 point_clipper.py

Supplementary

Main Contribution

QnA

If you have a question, you utilize a alphaXiv and comment here.

Citation

    @article{kim2024narrowing,
      title={Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition},
      author={Kim, Hogyun and Choi, Jiwon and Sim, Taehu and Kim, Giseop and Cho, Younggun},
      journal={IEEE Robotics and Automation Letters},
      year={2024},
      publisher={IEEE}
    }

Contact

Hogyun Kim (hg.kim@inha.edu)

License

For academic usage, the code is released under the BSD 3.0 license. For any commercial purpose, please contact the authors.

sparolab / SOLiD

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