A real-time LiDAR SLAM package that integrates FLOAM and ScanContext.

Overview

SC-FLOAM

What is SC-FLOAM?

  • A real-time LiDAR SLAM package that integrates FLOAM and ScanContext.
    • FLOAM for odometry (i.e., consecutive motion estimation)
    • ScanContext for coarse global localization that can deal with big drifts (i.e., place recognition as kidnapped robot problem without initial pose)
    • and iSAM2 of GTSAM is used for pose-graph optimization.

Dependencies

  • We mainly depend on ROS, Ceres and PCL(for FLOAM), and GTSAM (for pose-graph optimization).
    • For the details to install the prerequisites, please follow the FLOAM and LIO-SAM repositiory.
  • The below examples are done under ROS melodic (ubuntu 18) and GTSAM version 4.x.

How to use?

  • First, install the abovementioned dependencies, and follow below lines.
    mkdir -p ~/catkin_scfloam_ws/src
    cd ~/catkin_scfloam_ws/src
    git clone https://github.com/cuge1995/SC-FLOAM.git
    cd ../
    catkin_make
    source ~/catkin_scfloam_ws/devel/setup.bash

Example Results

KITTI

  • For KITTI (HDL-64 sensor), run using the command (Download KITTI sequence 05 or KITTI sequence 07 first)
    ##In different terminal
    roslaunch floam floam_velodyne.launch
    roslaunch aloam_velodyne floam_velodyne_64.launch
    rosbag play 2011_09_30_0018.bag
    

Acknowledgements

  • Thanks to LOAM, FLOAM, SC-ALOAM and LIO-SAM code authors. The major codes in this repository are borrowed from their efforts.
Owner
Jinlai Zhang
PhD candidate at GXU / Joint education of Ph.D at THU
Jinlai Zhang
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