taeki222 / VA-ISC-LOAM

add visual assist module

VA-LOAM

Visual Assisted LiDAR Odometry and Mapping for Accurate Autonomous Navigation (VA-LOAM)

VA-LOAM integrates visual assistance into LiDAR-based odometry and mapping systems, significantly enhancing the accuracy and robustness of SLAM for autonomous navigation."

1. Comparison

2. Prerequisites

2.1 Ubuntu and ROS

Ubuntu 64-bit 20.04.

ROS Noetic. ROS Installation

2.2. Ceres Solver

Follow Ceres Installation.

2.3. PCL

Follow PCL Installation.

2.3. GTSAM

Follow GTSAM Installation.

2.3. OPENCV

Follow OPENCV Installation.

3. Build

3.1 Clone repository:

cd ~/catkin_ws/src
git clone https://github.com/taeki222/VA-ISC-LOAM.git
cd ..
catkin_make -j1
source ~/catkin_ws/devel/setup.bash

3.2 Download test rosbag

Data set. KITTI data set

ROS Bag. KITTI -> ROS Bag

3.3 Launch ROS

roslaunch iscloam iscloam_mapping.launch

4. Citation

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={}
}

5.Acknowledgements

Thanks for ISCLOAM.