{"id":13436301,"url":"https://github.com/HKUST-Aerial-Robotics/A-LOAM","last_synced_at":"2025-03-18T21:30:19.492Z","repository":{"id":41292440,"uuid":"174171286","full_name":"HKUST-Aerial-Robotics/A-LOAM","owner":"HKUST-Aerial-Robotics","description":"Advanced implementation of LOAM","archived":false,"fork":false,"pushed_at":"2023-10-19T11:18:59.000Z","size":24583,"stargazers_count":2206,"open_issues_count":49,"forks_count":812,"subscribers_count":54,"default_branch":"devel","last_synced_at":"2025-03-16T23:08:41.587Z","etag":null,"topics":["lidar","loam","slam"],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/HKUST-Aerial-Robotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2019-03-06T15:31:46.000Z","updated_at":"2025-03-14T09:05:33.000Z","dependencies_parsed_at":"2024-01-06T00:04:55.303Z","dependency_job_id":null,"html_url":"https://github.com/HKUST-Aerial-Robotics/A-LOAM","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HKUST-Aerial-Robotics%2FA-LOAM","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HKUST-Aerial-Robotics%2FA-LOAM/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HKUST-Aerial-Robotics%2FA-LOAM/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HKUST-Aerial-Robotics%2FA-LOAM/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/HKUST-Aerial-Robotics","download_url":"https://codeload.github.com/HKUST-Aerial-Robotics/A-LOAM/tar.gz/refs/heads/devel","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":244310240,"owners_count":20432500,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["lidar","loam","slam"],"created_at":"2024-07-31T03:00:46.416Z","updated_at":"2025-03-18T21:30:18.230Z","avatar_url":"https://github.com/HKUST-Aerial-Robotics.png","language":"C++","funding_links":[],"categories":["C++","4. LIDAR based SLAM","五、Code","Simultaneous Localization and Mapping","2019","Localization"],"sub_categories":["4.2 Others","4. Lidar SLAM","Lidar","A-LOAM","SLAM"],"readme":"# A-LOAM\n## Advanced implementation of LOAM\n\nA-LOAM is an Advanced implementation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), which uses Eigen and Ceres Solver to simplify code structure. This code is modified from LOAM and [LOAM_NOTED](https://github.com/cuitaixiang/LOAM_NOTED). This code is clean and simple without complicated mathematical derivation and redundant operations. It is a good learning material for SLAM beginners.\n\n\u003cimg src=\"https://github.com/HKUST-Aerial-Robotics/A-LOAM/blob/devel/picture/kitti.png\" width = 55% height = 55%/\u003e\n\n**Modifier:** [Tong Qin](http://www.qintonguav.com), [Shaozu Cao](https://github.com/shaozu)\n\n\n## 1. Prerequisites\n### 1.1 **Ubuntu** and **ROS**\nUbuntu 64-bit 16.04 or 18.04.\nROS Kinetic or Melodic. [ROS Installation](http://wiki.ros.org/ROS/Installation)\n\n\n### 1.2. **Ceres Solver**\nFollow [Ceres Installation](http://ceres-solver.org/installation.html).\n\n### 1.3. **PCL**\nFollow [PCL Installation](http://www.pointclouds.org/downloads/linux.html).\n\n\n## 2. Build A-LOAM\nClone the repository and catkin_make:\n\n```\n    cd ~/catkin_ws/src\n    git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git\n    cd ../\n    catkin_make\n    source ~/catkin_ws/devel/setup.bash\n```\n\n## 3. Velodyne VLP-16 Example\nDownload [NSH indoor outdoor](https://drive.google.com/file/d/1s05tBQOLNEDDurlg48KiUWxCp-YqYyGH/view) to YOUR_DATASET_FOLDER. \n\n```\n    roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch\n    rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag\n```\n\n\n## 4. KITTI Example (Velodyne HDL-64)\nDownload [KITTI Odometry dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) to YOUR_DATASET_FOLDER and set the `dataset_folder` and `sequence_number` parameters in `kitti_helper.launch` file. Note you also convert KITTI dataset to bag file for easy use by setting proper parameters in `kitti_helper.launch`. \n\n```\n    roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch\n    roslaunch aloam_velodyne kitti_helper.launch\n```\n\u003cimg src=\"https://github.com/HKUST-Aerial-Robotics/A-LOAM/blob/devel/picture/kitti_gif.gif\" width = 720 height = 351 /\u003e\n\n## 5. Docker Support\nTo further facilitate the building process, we add docker in our code. Docker environment is like a sandbox, thus makes our code environment-independent. To run with docker, first make sure [ros](http://wiki.ros.org/ROS/Installation) and [docker](https://docs.docker.com/install/linux/docker-ce/ubuntu/) are installed on your machine. Then add your account to `docker` group by `sudo usermod -aG docker $YOUR_USER_NAME`. **Relaunch the terminal or logout and re-login if you get `Permission denied` error**, type:\n```\ncd ~/catkin_ws/src/A-LOAM/docker\nmake build\n```\nThe build process may take a while depends on your machine. After that, run `./run.sh 16` or `./run.sh 64` to launch A-LOAM, then you should be able to see the result.\n\n\n## 6.Acknowledgements\nThanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and [LOAM_NOTED](https://github.com/cuitaixiang/LOAM_NOTED).\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FHKUST-Aerial-Robotics%2FA-LOAM","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FHKUST-Aerial-Robotics%2FA-LOAM","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FHKUST-Aerial-Robotics%2FA-LOAM/lists"}