{"id":19501990,"url":"https://github.com/hku-mars/voxelmap","last_synced_at":"2025-10-11T07:15:51.169Z","repository":{"id":40628687,"uuid":"463072290","full_name":"hku-mars/VoxelMap","owner":"hku-mars","description":"[RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry","archived":false,"fork":false,"pushed_at":"2023-05-30T04:59:30.000Z","size":26956,"stargazers_count":605,"open_issues_count":25,"forks_count":89,"subscribers_count":24,"default_branch":"master","last_synced_at":"2025-06-01T07:07:59.340Z","etag":null,"topics":["lidar","mapping"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/hku-mars.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"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}},"created_at":"2022-02-24T08:46:42.000Z","updated_at":"2025-05-29T13:07:21.000Z","dependencies_parsed_at":"2024-04-10T10:23:54.297Z","dependency_job_id":null,"html_url":"https://github.com/hku-mars/VoxelMap","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/hku-mars/VoxelMap","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hku-mars%2FVoxelMap","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hku-mars%2FVoxelMap/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hku-mars%2FVoxelMap/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hku-mars%2FVoxelMap/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/hku-mars","download_url":"https://codeload.github.com/hku-mars/VoxelMap/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hku-mars%2FVoxelMap/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":279006596,"owners_count":26084130,"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","status":"online","status_checked_at":"2025-10-11T02:00:06.511Z","response_time":55,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"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","mapping"],"created_at":"2024-11-10T22:14:44.696Z","updated_at":"2025-10-11T07:15:51.150Z","avatar_url":"https://github.com/hku-mars.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# VoxelMap\n\n## Introduction\n**VoxelMap** is an efficient and probabilistic adaptive(coarse-to-fine) voxel mapping method for 3D LiDAR. Unlike the point cloud map, VoxelMap uses planes as representation units. A scan of LiDAR data will generate or update the plane. Each plane contains its own plane parameters and uncertainties that need to be estimated. This repo shows how to integrate VoxelMap into a LiDAR odometry.\n\n\u003cdiv align=\"center\"\u003e\n    \u003cimg src=\"pics/kitti_mapping.png\" width = 100% \u003e\n    \u003cfont color=#a0a0a0 size=2\u003eThe plane map constructed by VoxelMap on KITTI Odometry sequence 00.\u003c/font\u003e\n\u003c/div\u003e\n\n### Developers:\n[Chongjian Yuan 袁崇健](https://github.com/ChongjianYUAN)， [Wei Xu 徐威](https://github.com/XW-HKU)\n\n\n### Related paper\nRelated paper available on **arxiv**:  \n[Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry](https://arxiv.org/abs/2109.07082)\n\n### Related video\nOur accompanying videos are now available on **YouTube**.\n\u003cdiv align=\"center\"\u003e\n    \u003ca href=\"https://youtu.be/HSwQdXg31WM\" target=\"_blank\"\u003e\n    \u003cimg src=\"pics/video_cover.png\" width=60% /\u003e\n\u003c/div\u003e\n\n\n## 1. Prerequisites\n### 1.1. **PCL \u0026\u0026 Eigen**\n\nPCL\u003e= 1.8,   Follow [PCL Installation](http://www.pointclouds.org/downloads/linux.html).\n\nEigen\u003e= 3.3.4, Follow [Eigen Installation](http://eigen.tuxfamily.org/index.php?title=Main_Page).\n\n### 1.2. **livox_ros_driver**\nFollow [livox_ros_driver Installation](https://github.com/Livox-SDK/livox_ros_driver).\n\n## 2. Build\nClone the repository and catkin_make:\n```\n    cd ~/$A_ROS_DIR$/src\n    git clone https://github.com/hku-mars/VoxelMap.git\n    cd ..\n    catkin_make\n    source devel/setup.bash\n```\n- Remember to source the livox_ros_driver before build (follow 1.2 **livox_ros_driver**)\n\n## 3. Run on Dataset\nCurrent version of VoxelMap does not support IMU and requires **undistorted** point cloud.\n### 3.1 Run on KITTI Odometry dataset\nStep A: Setup before run\nEdit ``` config/velodyne.yaml ``` to set the below parameters:\n1. LiDAR point cloud topic name: ``` lid_topic ```\n2. If you want to show the voxel map, set ```pub_voxel_map``` to ```true```\n3. If you want to show the accumulated point cloud map, set ```pub_point_cloud``` to ```true```\n\nStep B: Run below\n```\n    cd ~/$VOXEL_MAP_ROS_DIR$\n    source devel/setup.bash\n    roslaunch voxel_map mapping_velodyne.launch\n```\n\nStep C: Play rosbag.\n\nIf want to save the trajectory result (camera pose), set the ```write_kitti_log``` to ```true``` and change the ```result_path``` to your own path.\n\n### 3.2 Run on L515 dataset\nStep A: Download our bags here: [Voxel Map L515 Datasets](https://connecthkuhk-my.sharepoint.com/:f:/g/personal/ycj1_connect_hku_hk/EgILu82us_ZHhYERmckDbIkBRwsWuVANMunOePjHtSOqTg?e=iW3izS)\n\nThen the same step as **3.1**\n\n## 4.Acknowledgments\nThanks for [Fast-LIO2](https://github.com/hku-mars/FAST_LIO) (Fast Direct LiDAR-inertial Odometry)\n\n## 5. License\n\nThe source code is released under [GPLv2](http://www.gnu.org/licenses/) license.For any technical issues, please contact us via email [ycj1@connect.hku.hk](mailto:ycj1@connect.hku.hk). For commercial use, please contact Dr. Fu Zhang [fuzhang@hku.hk](mailto:fuzhang@hku.hk).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhku-mars%2Fvoxelmap","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhku-mars%2Fvoxelmap","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhku-mars%2Fvoxelmap/lists"}