VA-LOAM integrates visual assistance into LiDAR-based odometry and mapping systems, significantly enhancing the accuracy and robustness of SLAM for autonomous navigation."
Ubuntu 64-bit 20.04.
ROS Noetic. ROS Installation
Follow Ceres Installation.
Follow PCL Installation.
Follow GTSAM Installation.
Follow OPENCV Installation.
cd ~/catkin_ws/src
git clone https://github.com/taeki222/VA-ISC-LOAM.git
cd ..
catkin_make -j1
source ~/catkin_ws/devel/setup.bash
Data set. KITTI data set
ROS Bag. KITTI -> ROS Bag
roslaunch iscloam iscloam_mapping.launch
If you use this work for your research, you may want to cite the paper below, your citation will be appreciated
@inproceedings{,
author={},
booktitle={},
title={},
year={},
volume={},
number={},
pages={},
doi={}
}
Thanks for ISCLOAM.