{"id":13436042,"url":"https://github.com/wh200720041/floam","last_synced_at":"2025-05-16T04:03:51.826Z","repository":{"id":41560522,"uuid":"260099248","full_name":"wh200720041/floam","owner":"wh200720041","description":"Fast LOAM: Fast and Optimized Lidar Odometry And Mapping   for indoor/outdoor localization IROS 2021","archived":false,"fork":false,"pushed_at":"2024-07-30T19:32:24.000Z","size":26622,"stargazers_count":1103,"open_issues_count":44,"forks_count":280,"subscribers_count":23,"default_branch":"master","last_synced_at":"2025-04-08T14:07:18.963Z","etag":null,"topics":["aloam","loam","localization","robotics","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/wh200720041.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":"2020-04-30T02:56:36.000Z","updated_at":"2025-04-04T10:36:17.000Z","dependencies_parsed_at":"2023-01-23T15:30:23.596Z","dependency_job_id":"b2d85aa4-d643-49ee-b2b8-a574c1cfb89c","html_url":"https://github.com/wh200720041/floam","commit_stats":{"total_commits":41,"total_committers":2,"mean_commits":20.5,"dds":"0.024390243902439046","last_synced_commit":"76e9b02e1cc1b15fb057586e49ecf4e0ad4ecd01"},"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wh200720041%2Ffloam","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wh200720041%2Ffloam/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wh200720041%2Ffloam/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/wh200720041%2Ffloam/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/wh200720041","download_url":"https://codeload.github.com/wh200720041/floam/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":254464891,"owners_count":22075570,"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":["aloam","loam","localization","robotics","slam"],"created_at":"2024-07-31T03:00:42.722Z","updated_at":"2025-05-16T04:03:51.802Z","avatar_url":"https://github.com/wh200720041.png","language":"C++","funding_links":[],"categories":["C++","4. LIDAR based SLAM","Simultaneous Localization and Mapping","Softwares and Libraries"],"sub_categories":["4.2 Others","Lidar"],"readme":"# FLOAM \n## Fast LOAM (Lidar Odometry And Mapping)\n\nThis work is an optimized version of A-LOAM and LOAM with the computational cost reduced by up to 3 times.\nThis code is modified from [LOAM](https://github.com/laboshinl/loam_velodyne) and [A-LOAM](https://github.com/HKUST-Aerial-Robotics/A-LOAM) .\n\n**Modifier:** [Wang Han](http://wanghan.pro), Nanyang Technological University, Singapore\n\n## 1. Demo Highlights\nWatch our demo at [Video Link](https://youtu.be/PzZly1SQtng)\n\u003cp align='center'\u003e\n\u003ca href=\"https://youtu.be/PzZly1SQtng\"\u003e\n\u003cimg width=\"65%\" src=\"/img/floam_kitti.gif\"/\u003e\n\u003c/a\u003e\n\u003c/p\u003e\n\n## 2. Evaluation\n### 2.1. Computational efficiency evaluation\nComputational efficiency evaluation (based on KITTI dataset):\nPlatform: Intel® Core™ i7-8700 CPU @ 3.20GHz \n| Dataset                                      | ALOAM                      | FLOAM                  |\n|----------------------------------------------|----------------------------|------------------------|\n| `KITTI`                                      | 151ms                      | 59ms                   |\n\nLocalization error:\n| Dataset                                      | ALOAM                      | FLOAM                  |\n|----------------------------------------------|----------------------------|------------------------|\n| `KITTI sequence 00`                          | 0.55%                      | 0.51%                  |\n| `KITTI sequence 02`                          | 3.93%                      | 1.25%                  |\n| `KITTI sequence 05`                          | 1.28%                      | 0.93%                  |\n\n### 2.2. localization result\n\u003cp align='center'\u003e\n\u003cimg width=\"65%\" src=\"/img/kitti_example.gif\"/\u003e\n\u003c/p\u003e\n\n### 2.3. mapping result\n\u003cp align='center'\u003e\n\u003ca href=\"https://youtu.be/w_R0JAymOSs\"\u003e\n\u003cimg width=\"65%\" src=\"/img/floam_mapping.gif\"/\u003e\n\u003c/a\u003e\n\u003c/p\u003e\n\n## 3. Prerequisites\n### 3.1 **Ubuntu** and **ROS**\nUbuntu 64-bit 20.04.\n\nROS Noetic. [ROS Installation](http://wiki.ros.org/ROS/Installation)\n\n### 3.2. **Ceres Solver**\nFollow [Ceres Installation](http://ceres-solver.org/installation.html).\nNote that starting from Ceres 2.1, GPU can be used to speed up optimization\n\n### 3.3. **PCL**\nFollow [PCL Installation](http://www.pointclouds.org/downloads/linux.html).\n\n### 3.4. **Trajectory visualization**\nFor visualization purpose, this package uses hector trajectory sever, you may install the package by \n```\nsudo apt-get install ros-noetic-hector-trajectory-server\n```\nAlternatively, you may remove the hector trajectory server node if trajectory visualization is not needed\n\n## 4. Build \n### 4.1 Clone repository:\n```\n    cd ~/catkin_ws/src\n    git clone https://github.com/wh200720041/floam.git\n    cd ..\n    catkin_make\n    source ~/catkin_ws/devel/setup.bash\n```\n### 4.2 Download test rosbag\nDownload [KITTI sequence 05](https://drive.google.com/file/d/1eyO0Io3lX2z-yYsfGHawMKZa5Z0uYJ0W/view?usp=sharing) or [KITTI sequence 07](https://drive.google.com/file/d/1_qUfwUw88rEKitUpt1kjswv7Cv4GPs0b/view?usp=sharing)\n\nUnzip compressed file 2011_09_30_0018.zip. If your system does not have unzip. please install unzip by \n```\nsudo apt-get install unzip \n```\n\nAnd this may take a few minutes to unzip the file\n```\n\tcd ~/Downloads\n\tunzip ~/Downloads/2011_09_30_0018.zip\n```\n\n### 4.3 Launch ROS\n```\n    roslaunch floam floam.launch\n```\nif you would like to create the map at the same time, you can run (more cpu cost)\n```\n    roslaunch floam floam_mapping.launch\n```\nIf the mapping process is slow, you may wish to change the rosbag speed by replacing \"--clock -r 0.5\" with \"--clock -r 0.2\" in your launch file, or you can change the map publish frequency manually (default is 10 Hz)\n\n\n## 5. Test on other sequence\nTo generate rosbag file of kitti dataset, you may use the tools provided by \n[kitti_to_rosbag](https://github.com/ethz-asl/kitti_to_rosbag) or [kitti2bag](https://github.com/tomas789/kitti2bag) \n\n## 6. Test on Velodyne VLP-16 or HDL-32\nYou may wish to test FLOAM on your own platform and sensor such as VLP-16\nYou can install the velodyne sensor driver by \n```\nsudo apt-get install ros-noetic-velodyne-pointcloud\n```\nlaunch floam for your own velodyne sensor\n```\n    roslaunch floam floam_velodyne.launch\n```\nIf you are using HDL-32 or other sensor, please change the scan_line in the launch file \n\n\n## 7.Acknowledgements\nThanks for [A-LOAM](https://github.com/HKUST-Aerial-Robotics/A-LOAM) and LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and [LOAM_NOTED](https://github.com/cuitaixiang/LOAM_NOTED).\n\n\n## 8. Citation\nIf you use this work for your research, you may want to cite\n```\n@inproceedings{wang2021,\n  author={H. {Wang} and C. {Wang} and C. {Chen} and L. {Xie}},\n  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, \n  title={F-LOAM : Fast LiDAR Odometry and Mapping}, \n  year={2020},\n  volume={},\n  number={}\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwh200720041%2Ffloam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fwh200720041%2Ffloam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwh200720041%2Ffloam/lists"}