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align=\"center\"\u003e\n  \u003ch1\u003eMapBlend\u003c/h1\u003e\n  \u003ch2\u003eConsistent Long-Term Point Cloud Mapping with Prior Maps\u003c/h2\u003e\n\n  \u003cbr\u003e\n\n  [![Docker](https://badgen.net/badge/icon/docker?icon=docker\u0026label)](https://www.docker.com/)\n  ![Linux](https://img.shields.io/badge/Linux-FCC624?logo=linux\u0026logoColor=black)\n  ![License](https://img.shields.io/badge/license-Apache%202.0-blue)\n  ![Version](https://img.shields.io/badge/version-0.0.1-blue)\n  \n  \u003cbr\u003e\n  \u003cimg src=\"doc/seq00.gif\" alt=\"Demo GIF\"\u003e\n\u003c/div\u003e\n\n  \n## PRELIMINARY version\n\nThis is a PRELIMINARY version\n\n## Description\n\nThis repository is an extension to [OpenLiDARMap](https://github.com/TUMFTM/OpenLiDARMap), a zero-drift georeferenced LiDAR-only point cloud mapping algorithm.  \nWe combine the mapping module of OpenLiDARMap with the object detection module of [Autoware](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_lidar_centerpoint/) to filter movable objects before the mapping.  \nAdditionally, we enable the update of point cloud maps through a raycasting-based voxel-occlusion update strategy (THIS IS NOT YET AVAILABLE IN THIS REPOSITORY). \n\n## Install\n\n```bash\ngit clone --recurse-submodules https://github.com/ga58lar/MapBlend.git\n\n./docker/build_docker.sh\n```\n\n## Run\n\nTo run this repository, you will need a PC with a NVIDIA GPU.\nYou also need to download the lidar_centerpoint pre-trained models from [Autoware](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_lidar_centerpoint/).\n\n```bash\n./docker/run_docker.sh \u003cmodel_path\u003e \u003cconfig_path\u003e \u003cmap_path\u003e \u003cscan_path\u003e \u003coutput_path\u003e \u003cx\u003e \u003cy\u003e \u003cz\u003e \u003cqx\u003e \u003cqy\u003e \u003cqz\u003e \u003cqw\u003e\n```\n\nFor a detailed instruction the the core module [OpenLiDARMap](https://github.com/TUMFTM/OpenLiDARMap), please refer to the official GitHub repository.\n\n## Missing\n\n- Object tracking module for robust movable object removal\n- Life-long mapping module","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fga58lar%2Fmapblend","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fga58lar%2Fmapblend","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fga58lar%2Fmapblend/lists"}