{"id":28418879,"url":"https://github.com/engcang/fast-lio-localization-sc-qn","last_synced_at":"2025-06-25T21:31:35.667Z","repository":{"id":259798757,"uuid":"769262007","full_name":"engcang/FAST-LIO-Localization-SC-QN","owner":"engcang","description":"A Map-based localization implementation combining FAST-LIO2 as an odometry with Quatro + Nano-GICP as a map matching method, and with ScanContext as a loop candidate detection method","archived":false,"fork":false,"pushed_at":"2024-10-27T23:55:41.000Z","size":68,"stargazers_count":82,"open_issues_count":2,"forks_count":8,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-06-04T19:30:52.474Z","etag":null,"topics":["lidar","lidar-inertial-odometry","lidar-slam","localization","loop-closure","odometry","slam"],"latest_commit_sha":null,"homepage":"","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/engcang.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,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-03-08T17:17:20.000Z","updated_at":"2025-05-29T08:31:37.000Z","dependencies_parsed_at":"2024-10-28T03:53:15.073Z","dependency_job_id":null,"html_url":"https://github.com/engcang/FAST-LIO-Localization-SC-QN","commit_stats":null,"previous_names":["engcang/fast-lio-localization-sc-qn"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/engcang/FAST-LIO-Localization-SC-QN","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engcang%2FFAST-LIO-Localization-SC-QN","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engcang%2FFAST-LIO-Localization-SC-QN/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engcang%2FFAST-LIO-Localization-SC-QN/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engcang%2FFAST-LIO-Localization-SC-QN/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/engcang","download_url":"https://codeload.github.com/engcang/FAST-LIO-Localization-SC-QN/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engcang%2FFAST-LIO-Localization-SC-QN/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":261956031,"owners_count":23236001,"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","lidar-inertial-odometry","lidar-slam","localization","loop-closure","odometry","slam"],"created_at":"2025-06-04T13:20:42.702Z","updated_at":"2025-06-25T21:31:35.660Z","avatar_url":"https://github.com/engcang.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# FAST-LIO-Localization-SC-QN\n+ This repository is a map-based localization implementation combining [FAST-LIO2](https://github.com/hku-mars/FAST_LIO) as an odometry with [Quatro](https://quatro-plusplus.github.io/) and [Nano-GICP module](https://github.com/engcang/nano_gicp) as a map matching method, and with [ScanContext](https://github.com/gisbi-kim/scancontext_tro) as a loop candidate detection method\n    + [Quatro](https://quatro-plusplus.github.io/) - fast, accurate and robust global registration which provides great initial guess of transform\n    + [Quatro module](https://github.com/engcang/quatro) - `Quatro` as a module, can be easily used in other packages\n    + [Nano-GICP module](https://github.com/engcang/nano_gicp) - fast ICP combining [FastGICP](https://github.com/SMRT-AIST/fast_gicp) + [NanoFLANN](https://github.com/jlblancoc/nanoflann)\n    + [ScanContext](https://github.com/gisbi-kim/scancontext_tro) - a global descriptor for LiDAR point cloud, here it is used as loop candidate pair detection\n+ Note: similar repositories already exist\n    + [FAST_LIO_LOCALIZATION](https://github.com/HViktorTsoi/FAST_LIO_LOCALIZATION): FAST-LIO2 + Open3D's ICP\n    + [FAST-LIO-Localization-QN](https://github.com/engcang/FAST-LIO-Localization-QN): FAST-LIO2 + Quatro + Nano-GICP\n+ Note2: main code is modularized and hence can be combined with any other LIO / LO\n+ Note3: this repo is to apply `Quatro` in localization. `Quatro` can be worked in scan-to-scan matching or submap-to-submap matching but not scan-to-submap, i.e., ***the numbers of pointclouds to be matched should be similar.***\n+ Note4: **saved map file** is needed. The map should be in `.bag` format. This `.bag` files can be built with [FAST-LIO-SAM-QN](https://github.com/engcang/FAST-LIO-SAM-QN) and [FAST-LIO-SAM](https://github.com/engcang/FAST-LIO-SAM)\n\n## Video clip - https://youtu.be/MQ8XxRY472Y\n\n\u003cbr\u003e\n\n## Main difference between FAST-LIO-Localization-QN and FAST-LIO-Localization-SC-QN\n+ FAST-LIO-Localization-QN sets loop candidate pair as (current keyframe, the closest and old enough keyframe saved in the map data)\n+ FAST-LIO-Localization-SC-QN gets loop candidate pair from ScanContext\n\n\u003cbr\u003e\n\n## Dependencies\n+ `C++` \u003e= 17, `OpenMP` \u003e= 4.5, `CMake` \u003e= 3.10.0, `Eigen` \u003e= 3.2, `Boost` \u003e= 1.54\n+ `ROS`\n+ [`Teaser++`](https://github.com/MIT-SPARK/TEASER-plusplus)\n    ```shell\n    git clone https://github.com/MIT-SPARK/TEASER-plusplus.git\n    cd TEASER-plusplus \u0026\u0026 mkdir build \u0026\u0026 cd build\n    cmake .. -DENABLE_DIAGNOSTIC_PRINT=OFF\n    sudo make install -j16\n    sudo ldconfig\n    ```\n+ `tbb` (is used for faster `Quatro`)\n    ```shell\n    sudo apt install libtbb-dev\n    ```\n\n## How to build\n+ Get the code and then build the main code.\n    ```shell\n    cd ~/your_workspace/src\n    git clone https://github.com/engcang/FAST-LIO-Localization-SC-QN --recursive\n\n    cd ~/your_workspace\n    # nano_gicp, quatro first\n    catkin build nano_gicp -DCMAKE_BUILD_TYPE=Release\n    # Note the option!\n    catkin build quatro -DCMAKE_BUILD_TYPE=Release -DQUATRO_TBB=ON\n    catkin build -DCMAKE_BUILD_TYPE=Release\n    . devel/setup.bash\n    ```\n\n## How to run\n+ Then run (change config files in third_party/`FAST_LIO`)\n    ```shell\n    roslaunch fast_lio_localization_sc_qn run.launch lidar:=ouster\n    roslaunch fast_lio_localization_sc_qn run.launch lidar:=velodyne\n    roslaunch fast_lio_localization_sc_qn run.launch lidar:=livox\n    ```\n* In particular, we provide a preset launch option for specific datasets:\n    ```shell\n    roslaunch fast_lio_localization_sc_qn run.launch lidar:=kitti\n    roslaunch fast_lio_localization_sc_qn run.launch lidar:=mulran\n    roslaunch fast_lio_localization_sc_qn run.launch lidar:=newer-college20\n    ```\n\n\u003cbr\u003e\n\n## Structure\n+ odomPcdCallback\n    + pub realtime pose in corrected frame\n    + keyframe detection -\u003e if keyframe, add to pose graph + save to keyframe queue\n+ matchingTimerFunc\n    + process a saved keyframe\n        + detect map match -\u003e if matched, correct TF\n    + visualize all\n\n\u003cbr\u003e\n\n## Memo\n+ `Quatro` module fixed for empty matches\n+ `Quatro` module is updated with `optimizedMatching` which limits the number of correspondences and increased the speed\n\n\u003cbr\u003e\n\n## License\n\u003ca rel=\"license\" href=\"http://creativecommons.org/licenses/by-nc-sa/4.0/\"\u003e\u003cimg alt=\"Creative Commons License\" style=\"border-width:0\" src=\"https://i.creativecommons.org/l/by-nc-sa/4.0/88x31.png\" /\u003e\u003c/a\u003e\n\nThis work is licensed under a [Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License](http://creativecommons.org/licenses/by-nc-sa/4.0/)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fengcang%2Ffast-lio-localization-sc-qn","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fengcang%2Ffast-lio-localization-sc-qn","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fengcang%2Ffast-lio-localization-sc-qn/lists"}