{"id":17485398,"url":"https://github.com/tiev-tongji/LIMOT","last_synced_at":"2025-03-03T22:30:55.631Z","repository":{"id":193994037,"uuid":"689881072","full_name":"tiev-tongji/LIMOT","owner":"tiev-tongji","description":" A Tightly-Coupled System for LiDAR-Inertial Odometry and Multi-Object Tracking.","archived":false,"fork":false,"pushed_at":"2024-07-08T17:13:35.000Z","size":7316,"stargazers_count":75,"open_issues_count":1,"forks_count":8,"subscribers_count":7,"default_branch":"main","last_synced_at":"2024-10-19T05:16:22.221Z","etag":null,"topics":["lidar-inertial-odometry","multi-object-tracking"],"latest_commit_sha":null,"homepage":"https://ieeexplore.ieee.org/abstract/document/10538416","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/tiev-tongji.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":"2023-09-11T05:27:42.000Z","updated_at":"2024-10-15T07:42:01.000Z","dependencies_parsed_at":null,"dependency_job_id":"50f5ef16-6616-46b0-a1df-856b3da373c5","html_url":"https://github.com/tiev-tongji/LIMOT","commit_stats":null,"previous_names":["tiev-tongji/limot"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tiev-tongji%2FLIMOT","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tiev-tongji%2FLIMOT/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tiev-tongji%2FLIMOT/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/tiev-tongji%2FLIMOT/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/tiev-tongji","download_url":"https://codeload.github.com/tiev-tongji/LIMOT/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":241752080,"owners_count":20014224,"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-inertial-odometry","multi-object-tracking"],"created_at":"2024-10-19T02:00:54.548Z","updated_at":"2025-03-03T22:30:55.622Z","avatar_url":"https://github.com/tiev-tongji.png","language":"C++","funding_links":[],"categories":["C++"],"sub_categories":[],"readme":"# LIMOT\n\u003c!-- * The code will be released after the paper is accepted but we provide a [gtsam demo](https://github.com/Sonne-Zhu/gtsam_demo_limot) to illustrate and verify that gtsam is used correctly in LIMOT. --\u003e\n* A tightly-coupled multi-object tracking and LiDAR-inertial odometry system, allowing for joint estimation of the poses of both the ego-vehicle and surrounding objects.\n\u003cp align='center'\u003e\n    \u003cimg src=\"./doc/demo.gif\" alt=\"drawing\" width=\"800\"/\u003e\n\u003c/p\u003e\n\n## Dependency\n\nWe developed LIMOT on Ubuntu 20.04.\n- [ROS](http://wiki.ros.org/ROS/Installation) (Noetic)\n  ```\n  sudo apt-get install -y ros-noetic-navigation\n  sudo apt-get install -y ros-noetic-robot-localization\n  sudo apt-get install -y ros-noetic-robot-state-publisher\n  ```\n- [gtsam](https://gtsam.org/get_started/) (Georgia Tech Smoothing and Mapping library, recommended 4.0.3)\n  ```\n  sudo add-apt-repository ppa:borglab/gtsam-release-4.0\n  sudo apt install libgtsam-dev libgtsam-unstable-dev\n  ```\n## Install\n\nUse the following commands to download and compile the package.\n\n```\nmkdir -p ~/limot_ws/src\ncd ~/limot_ws/src\ngit clone https://github.com/tiev-tongji/LIMOT.git\ncd ..\ncatkin_make -j\n```\n\n## Run the package\n\n1. Run the launch file:\n```\nsource devel/setup.bash\nroslaunch limot run_kitti.launch\n```\n2. Run your object detector, which subscribes to LiDAR scans and publishes the detection results with the formats: \n\n    [timestamp, [type, x, y, z, l, w, h, yaw, score], ...,[type ,x, ..., score]].\n\n3. Play existing bag files:\n```\nrosbag play your-bag.bag\n```\n## Sample dataset\n\n* Download the KITTI tracking dataset to test the functionality of the LIMOT. The dataset below are configured to run using the [params_kitti.yaml](./config/params_kitti.yaml):\n    - **KITTI tracking dataset:** [[Google Drive](https://drive.google.com/drive/folders/144Kp2WYfHIF6SbKHDCtjTswOk2E1_gPg?usp=sharing)]\n\n* Download the self-collected dataset to test the functionality of the LIMOT. The dataset below are configured to run using the [params_hdl64.yaml](./config/params_hdl64.yaml):\n    - **Self-collected dataset:** [[Google Drive](https://drive.google.com/drive/folders/1-30POMAEe8F7kGfUjNHDNh8gOYRHjOt2?usp=sharing)]   \n    \n\n## Paper\n\n* LIMOT has been accepted by IEEE Robotics and Automation Letters.\n```\n@article{zhu2024limot,\n  title={LIMOT: a tightly-coupled system for LiDAR-inertial odometry and multi-object tracking},\n  author={Zhu, Zhongyang and Zhao, Junqiao and Huang, Kai and Tian, Xuebo and Lin, Jiaye and Ye, Chen},\n  journal={IEEE Robotics and Automation Letters},\n  year={2024},\n  publisher={IEEE}\n}\n```\n\n* Our previous work DL-SLOT has been accepted by the IEEE Transactions on Intelligent Vehicles.\n```\n@article{tian2023dl,\n  title={DL-SLOT: Tightly-Coupled Dynamic LiDAR SLAM and 3D Object Tracking Based on Collaborative Graph Optimization},\n  author={Tian, Xuebo and Zhu, Zhongyang and Zhao, Junqiao and Tian, Gengxuan and Ye, Chen},\n  journal={IEEE Transactions on Intelligent Vehicles},\n  year={2023},\n  publisher={IEEE}\n}\n```\n\n## Acknowledgments\nThanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM).","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftiev-tongji%2FLIMOT","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftiev-tongji%2FLIMOT","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftiev-tongji%2FLIMOT/lists"}