{"id":13436293,"url":"https://github.com/hyye/lio-mapping","last_synced_at":"2025-03-18T20:31:11.386Z","repository":{"id":38361165,"uuid":"149068021","full_name":"hyye/lio-mapping","owner":"hyye","description":"Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping)","archived":false,"fork":false,"pushed_at":"2020-02-13T20:05:15.000Z","size":847,"stargazers_count":916,"open_issues_count":35,"forks_count":322,"subscribers_count":39,"default_branch":"master","last_synced_at":"2024-10-27T20:18:57.524Z","etag":null,"topics":["icra2019","mapping","sensor-fusion","slam"],"latest_commit_sha":null,"homepage":"https://sites.google.com/view/lio-mapping","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/hyye.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}},"created_at":"2018-09-17T04:17:07.000Z","updated_at":"2024-10-24T05:34:18.000Z","dependencies_parsed_at":"2022-09-23T19:01:26.737Z","dependency_job_id":null,"html_url":"https://github.com/hyye/lio-mapping","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/hyye%2Flio-mapping","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hyye%2Flio-mapping/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hyye%2Flio-mapping/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/hyye%2Flio-mapping/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/hyye","download_url":"https://codeload.github.com/hyye/lio-mapping/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":244301394,"owners_count":20430936,"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":["icra2019","mapping","sensor-fusion","slam"],"created_at":"2024-07-31T03:00:46.310Z","updated_at":"2025-03-18T20:31:09.988Z","avatar_url":"https://github.com/hyye.png","language":"C++","funding_links":[],"categories":["C++","4. LIDAR based SLAM","Simultaneous Localization and Mapping","2019","Localization"],"sub_categories":["4.2 Others","Lidar","LIO-mapping","SLAM"],"readme":"# LIO-mapping\n## A Tightly Coupled 3D Lidar and Inertial Odometry and Mapping Approach\n#### Authors: Haoyang Ye, Yuying Chen, and Ming Liu from [RAM-LAB](https://ram-lab.com/).\n[[Paper]](https://arxiv.org/abs/1904.06993), [[Project]](https://sites.google.com/view/lio-mapping), [[Bib]](https://ram-lab.com/papers/2019/icra_2019_ye.bib). ICRA 2019.\n## Table of Contents\n* [Demo Results](#demo-results)\n* [Prerequisites](#prerequisites)\n* [Build](#build)\n* [Examples](#examples)\n* [Docker](#docker)\n* [Credits](#credits)\n* [Licence](#licence)\n\n## Demo Results\n\u003ca href=\"https://youtu.be/4bGR_QJZZFw\" target=\"_blank\"\u003e\u003cimg src=\"https://ram-lab.com/file/hyye/lio-mapping-gt.gif\" alt=\"lio-mapping-gt\" height=\"200\"\u003e\u003c/a\u003e\n\u003ca href=\"https://youtu.be/4bGR_QJZZFw\" target=\"_blank\"\u003e\u003cimg src=\"https://ram-lab.com/file/hyye/lio-mapping-indoor.png\" alt=\"lio-mapping-indoor\" height=\"200\"\u003e\u003c/a\u003e\n\nVideo: [[More indoor and outdoor tests]](https://ram-lab.com/file/hyye/lio-mapping.mp4).\n\n## Prerequisites\nSee [Dockerfile](docker/Dockerfile) as a reference:\n1. [ROS](http://wiki.ros.org/melodic/Installation) with Ubuntu 18.04 or Ubuntu 16.04.\n2. [Ceres-solver](http://ceres-solver.org/installation.html#linux).\n3. [PCL](http://www.pointclouds.org/downloads/), the default version accompanying by ROS.\n4. [OpenCV](https://docs.opencv.org/master/d7/d9f/tutorial_linux_install.html), the default version accompanying by ROS.\n\n## Build\n1. `git clone git@github.com:hyye/lio-mapping.git` into the `src` folder of your catkin workspace.\n2. `catkin build -DCMAKE_BUILD_TYPE=Release lio` or `catkin_make -DCMAKE_BUILD_TYPE=Release`.\n\n## Examples\nSome [sample data](https://drive.google.com/drive/folders/1dPy667dAnJy9wgXmlnRgQZxQF_ESuve3).\n1. `source devel/setup.zsh`, or `setup.bash` if your prefer `bash`.\n2. `roslaunch lio test_indoor.launch \u0026`.\n3. `roslaunch lio map_4D_indoor.launch \u0026`.\n4. `rosbag play fast1.bag`.\n\n## Docker\nTry it out using docker:\n1. Run `docker/build_docker.sh`.\n2. Run `docker/run_docker.sh`.\n3. Run `rosbag play fast1.bag`, in your host machine or in the running container.\n\nNote: Visualization (rviz) can run in the running container with [nvidia-docker](https://github.com/NVIDIA/nvidia-docker). The [Dockerfile](docker/Dockerfile) is compatible with [nvidia-docker 2.0](https://github.com/nvidia/nvidia-docker/wiki/Installation-(version-2.0)); [1.Dockerfile](docker/1.Dockerfile) with [nvidia-docker 1.0](https://github.com/nvidia/nvidia-docker/wiki/Installation-(version-1.0)).\n\n## Credits\nThe feature extraction, lidar-only odometry and baseline implemented were heavily derived or taken from the original [LOAM](http://wiki.ros.org/loam_velodyne) and its [modified version](https://github.com/laboshinl/loam_velodyne) (the point_processor in our project), and one of the initialization methods and the optimization pipeline from [VINS-mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono). The copyright headers are retained for the relevant files.\n\n## Licence\nThe source code is released under [GPL-3.0](https://www.gnu.org/licenses/).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhyye%2Flio-mapping","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhyye%2Flio-mapping","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhyye%2Flio-mapping/lists"}