This repository is the official code of the paper:
Uni-Mapper: Unified Mapping Framework for Multi-modal LiDARs in Complex and Dynamic Environments
Gilhwan Kang, Hogyun Kim, Byunghee Choi, Seokhwan Jeong, Young-Sik Shin*, and Younggun Cho*.
* Corresponding Authors.under review for journal paper
Uni-mapper is a map-merging framework for multi-modal LiDARs in complex and dynamic environments. Our approach consists of three core components: dynamic object removal, dynamic-aware scene description, and multiple map alignment. A voxel-wise free space hash map is built to remove dynamic objects by combining sequential free spaces. This is integrated with a stable triangle descriptor (STD) to form DynaSTD, which preserves static points and is effective across multi-modal LiDARs. DynaSTD is used for pose graph optimizations in intra-session and inter-map loop closures, with a centralized anchor-node approach to reduce intra-session drift errors.
Note The code will be released after the paper is accepted.
Setup
- Installation
- Datasets
Example
- Merging multiple maps