{"id":13528725,"url":"https://github.com/wh200720041/iscloam","last_synced_at":"2025-04-04T16:13:57.619Z","repository":{"id":45227122,"uuid":"260209378","full_name":"wh200720041/iscloam","owner":"wh200720041","description":"Intensity Scan Context based full SLAM implementation for autonomous driving. 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LIDAR based SLAM"],"sub_categories":["4.2 Others"],"readme":"# ISCLOAM \n## Intensity Scan Context based Full SLAM Implementation (ISC-LOAM) \n\nThis work is an implementation of paper \"Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection\" in IEEE International Conference on Robotics and Automation 2020 (ICRA) [paper](https://arxiv.org/pdf/2003.05656.pdf)\nThis work is 3D lidar based Simultaneous Localization And Mapping (SLAM), including both front-end and back-end SLAM, at 20Hz. \n\n**Author:** [Wang Han](http://wanghan.pro), Nanyang Technological University, Singapore\n\nFor front-end only odometry, you may visit [FLOAM (fast lidar odometry and mapping)](https://github.com/wh200720041/floam)\n## 1. Evaluation\n### 1.1. Demo\nWatch our demo at [Video Link](https://youtu.be/Kfi6CFK4Ke4)\n\u003cp align='center'\u003e\n\u003ca href=\"https://youtu.be/0-plzzxibHA\" target=\"_blank\"\u003e\n\u003cimg width=\"65%\" src=\"/img/iscloam_title.gif\"/\u003e\n\u003c/a\u003e\n\u003c/p\u003e\n\n### 1.2. Mapping Example\n\u003cp align='center'\u003e\n\u003ca href=\"https://youtu.be/0-plzzxibHA\" target=\"_blank\"\u003e\n\u003cimg width=\"65%\" src=\"/img/iscloam_kitti_mapping.gif\"/\u003e\n\u003c/a\u003e\n\u003c/p\u003e\n\n### 1.3. Localization Example\n\u003cp align='center'\u003e\n\u003cimg width=\"65%\" src=\"/img/iscloam_kitti.gif\"/\u003e\n\u003c/p\u003e\n\n\n### 1.4. Ground Truth Comparison\nGreen: ISCLOAM        Red: Ground Truth\n\u003cp align='center'\u003e\n\u003cimg src=\"/img/00.png\" width = 45% /\u003e\n\u003cimg src=\"/img/05.png\" width = 45% /\u003e\n\u003c/p\u003e\n\n                      KITTI sequence 00                                  KITTI sequence 05\n\n### 1.5. Localization error  \n\nPlatform: Intel® Core™ i7-8700 CPU @ 3.20GHz \n\nAverage translation error : 1.08%\n\nAverage rotation error : 0.000073\n\n### 1.6. Comparison\n| Dataset                                      | ISCLOAM                    | FLOAM                  |\n|----------------------------------------------|----------------------------|------------------------|\n| `KITTI sequence 00`                          | 0.24%                      | 0.51%                  |\n| `KITTI sequence 05`                          | 0.22%                      | 0.93%                  |\n\n## 2. Prerequisites\n### 2.1 **Ubuntu** and **ROS**\nUbuntu 64-bit 20.04.\n\nROS Noetic. [ROS Installation](http://wiki.ros.org/ROS/Installation)\n\n### 2.2. **Ceres Solver**\nFollow [Ceres Installation](http://ceres-solver.org/installation.html).\n\n### 2.3. **PCL**\nFollow [PCL Installation](http://www.pointclouds.org/downloads/linux.html).\n\n### 2.3. **GTSAM**\nFollow [GTSAM Installation](https://gtsam.org/get_started/).\n\n### 2.3. **OPENCV**\nFollow [OPENCV Installation](https://opencv.org/releases/).\n\n### 2.4. **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## 3. Build \n### 3.1 Clone repository:\n```\ncd ~/catkin_ws/src\ngit clone https://github.com/wh200720041/iscloam.git\ncd ..\ncatkin_make -j1\nsource ~/catkin_ws/devel/setup.bash\n```\n\n\n### 3.2 Download test rosbag\nDownload [KITTI sequence 05](https://drive.google.com/file/d/1eyO0Io3lX2z-yYsfGHawMKZa5Z0uYJ0W/view?usp=sharing) (10GB) or [KITTI sequence 07](https://drive.google.com/file/d/1_qUfwUw88rEKitUpt1kjswv7Cv4GPs0b/view?usp=sharing) (4GB)\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\nThis may take a few minutes to unzip the file, by default the file location should be /home/user/Downloads/2011_09_30_0018.bag\n```\ncd ~/Downloads\nunzip ~/Downloads/2011_09_30_0018.zip\n```\n\n### 3.3 Launch ROS\n```\nroslaunch iscloam iscloam.launch\n```\n\n### 3.4 Mapping Node\nif you would like to generate the map of environment at the same time, you can run \n```\nroslaunch iscloam iscloam_mapping.launch\n```\nNote that the global map can be very large, so it may takes a while to perform global optimization, some lag is expected between trajectory and map since they are running in separate thread. More CPU usage will happen when loop closure is identified.\n\n## 4. Test 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## 5. Other Velodyne sensor\nYou may use iscloam_velodyne.launch for your own velodyne sensor, such as Velodyne VLP-16. \n\n\n## 6. Citation\nIf you use this work for your research, you may want to cite the paper below, your citation will be appreciated \n```\n@inproceedings{wang2020intensity,\n  author={H. {Wang} and C. {Wang} and L. {Xie}},\n  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)}, \n  title={Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection}, \n  year={2020},\n  volume={},\n  number={},\n  pages={2095-2101},\n  doi={10.1109/ICRA40945.2020.9196764}\n}\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","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwh200720041%2Fiscloam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fwh200720041%2Fiscloam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwh200720041%2Fiscloam/lists"}