LIO-FUSION

A reinforced LiDAR inertial odometry system that effectively fuses GNSS/relocalization and wheel odometry to provide accurate and robust 6-DoF movement estimation under challenging perceptual conditions. A video of the demonstration of the method can be found on YouTube.

Authors: Wenhong Wu, Xunyu Zhong*, Dongjie Wu, Bushi Chen, Xungao Zhong and Qiang Liu

Menu

• System architecture

• Package dependency

• Package install

• Gazebo simulation

• Sample datasets

• Run the package

System architecture

Dependency

git clone https://github.com/borglab/gtsam.git
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j4

Install

Use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone wwenhongich/LIO-FUSION.git
cd ..
catkin_make

Gazebo_simulation

Sample datasets

Run the package

1. Run the launch file:

   roslaunch lio_fusion fusion.launch

2. Play existing bag files:

   rosbag play your-bag.bag