A Modular Framework for LiDAR-based Lifelong Mapping

Overview

LT-mapper

News

What is LT-mapper?

  • A Modular Framework for LiDAR-based Lifelong Mapping

Why LT-mapper?

  • For LiDAR-based long-term mapping, three challenges exist.

Features

  • TBA

How to use?

Prerequisites

  • TBA

build

  • TBA

Tutorial and examples

0. Single-session Data Generation

  • Using the saver provided with SC-LIO-SAM (also in SC-A-LOAM or FAST_LIO_SLAM), a user should generate the set of sesssion data (i.e., keyframe point cloud scans, keyframe scan context descriptors (SCDs), and an initial pose-graph text file) for each session.

1. LT-SLAM

  • Tutorial video

  • command

        # change the paths in ltslam/config/params.yaml
        roslaunch ltslam run.launch
    

2. LT-removert

  • TBA

3. LT-map

  • TBA

LT-mapper ParkingLot dataset

Citation

@article{kim2021ltmapper,
  title={{LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping}},
  author={Kim, Giseop and Kim, Ayoung},
  journal={arXiv preprint arXiv:2107.07712},
  year={2021}
}

Contact

Release schedule

  • July 2021 A pre-print manuscript and initial version of LT-SLAM is released.
  • By Sep 2021 About LT-SLAM: Currently, we support 2-session alignment. N-session alignment will be supported.
  • By Dec 2021 LT-removert and LT-map modules will be released.

Acknowledgements

  • TBA
Issues
  • Questions about session_data generation

    Questions about session_data generation

    Hi, I found that the SC-PGO saver in FAST-LIO-SLAM will not save singlesession_posegraph.g2o and SCDs which are required by lt-mapper.

    So actually, we can only use SC-LIO-SLAM saver to generate session data right?

    opened by YukioZzz 1
  • Question about pose

    Question about pose

    Hello author, Thank you for sharing your great work. I want to know why the pose here is to (0,0,0) https://github.com/gisbi-kim/lt-mapper/blob/784f63eae8402659c5050ddaebd1e44e9c6c144c/ltslam/src/LTslam.cpp#L239 but the pose for RS loop is different https://github.com/gisbi-kim/lt-mapper/blob/784f63eae8402659c5050ddaebd1e44e9c6c144c/ltslam/src/LTslam.cpp#L298

    opened by smalltheater 0
  • When will the repo be completed?

    When will the repo be completed?

    I'm sorry to bother you ,but I can't run the code without commands, when will you upload running commands and the refactored code? Recently, I've been checking every day to see if you've updated. :)

    opened by fentuoli 0
Owner
Giseop Kim
Ph.D student, KAIST
Giseop Kim
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