Open3D SLAM: A Flexible Pointcloud-based SLAM System for Education
open3d_slam is a C++ (cpp) library for SLAM with ROS integration.
Contact: Edo Jelavic (jelavice@ethz.ch)
The main difference between open3d_slam and other SLAM libraries out there is that open3d_slam was designed to be simple and used for education purposes. In fact, open3d_slam uses only well-established algorithms in their basic form. We hope that this will make it easier for newcomers to enter the field.
You can check out poster+abstract from ICRA 2022 workshop to better understand the motivation.
We base our implementation on Open3D, a well-maintained and highly performant library for 3D data processing.
The documentation and example datasets can be found here open3d_slam Documentation.
We provide a catkin wrapper for Open3D such that you can easily use Open3D in your ROS projects. See documentation in open3d_catkin/README.md.