https://github.com/robofit/but_velodyne_lib

Open source library for Velodyne 3D LIDAR point clouds processing provided by Robo@FIT group.
https://github.com/robofit/but_velodyne_lib

Last synced: 3 months ago
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Open source library for Velodyne 3D LIDAR point clouds processing provided by Robo@FIT group.

• Host: GitHub
• URL: https://github.com/robofit/but_velodyne_lib
• Owner: robofit
• License: lgpl-3.0
• Created: 2016-01-18T14:31:58.000Z (over 8 years ago)
• Default Branch: master
• Last Pushed: 2017-03-28T07:12:46.000Z (over 7 years ago)
• Last Synced: 2024-01-18T13:08:29.322Z (5 months ago)
• Language: C++
• Size: 3.6 MB
• Stars: 84
• Watchers: 11
• Forks: 68
• Open Issues: 5
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Lists

• awesome-self-driving-cars - But Velodyne

README

        
# but_velodyne_lib

Open source library for Velodyne 3D LIDAR point clouds processing provided by Robo@FIT group at Brno University of Technology.

Currently, the odometry estimation is main contribution of this repository. Available source code implements:

 * **Collar Line Segments** algorithm for fast odometry estimation

 * RANSAC based point cloud registration using local features from RGB image

 * Visual loop detection by VFH (experimental)

### Building information

Library requires following dependencies to be installed in the system:

 * Eigen3 library

 * OpenCV version 2.4.9 (for OpenCV v3 compatibility see branch opencv3)

 * and PCL 1.7 library.

As a simple CMake project, it can be built by executing:

```bash

cd but_velodyne_lib

mkdir bin; cd bin

cmake ..

make

```

### Collar Line Segments for Fast Odometry Estimation

Detailed **description** of algorithm can be found in publication (see *doc/ICRA16_submission.pdf*):

*Velas, M. Spanel, M. Herout, A.: Collar Line Segments for Fast Odometry Estimation from Velodyne Point Clouds, ICRA 2016*

For **demonstration**, script *scripts/demo.sh* has been prepared. It requires internet connection (for obtaining data samples) and successfully built library. Demo aligns 5 data frames of Velodyne LiDAR and displays resulting 3D map.