https://github.com/gisbi-kim/lt-mapper

A Modular Framework for LiDAR-based Lifelong Mapping
https://github.com/gisbi-kim/lt-mapper

change-detection lidar mapping multi-session pointcloud slam

Last synced: about 2 months ago
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A Modular Framework for LiDAR-based Lifelong Mapping

• Host: GitHub
• URL: https://github.com/gisbi-kim/lt-mapper
• Owner: gisbi-kim
• Created: 2021-06-28T06:36:31.000Z (almost 3 years ago)
• Default Branch: main
• Last Pushed: 2022-12-28T16:16:02.000Z (over 1 year ago)
• Last Synced: 2024-02-04T06:11:36.639Z (5 months ago)
• Topics: change-detection, lidar, mapping, multi-session, pointcloud, slam
• Language: C++
• Homepage:
• Size: 11.5 MB
• Stars: 387
• Watchers: 28
• Forks: 62
• Open Issues: 5
• Metadata Files:
  • Readme: README.md

Lists

• Awesome-Self-Driving - LT-mapper - A Modular Framework for LiDAR-based Lifelong Mapping. (8. SLAM / 8.1. Lidar-based)

README

        
# LT-mapper (ICRA 22)

## What is LT-mapper?

- A Modular Framework for LiDAR-based Lifelong Mapping

  - [Paper](./doc/ltmapper-v1.pdf)

  - [Video](https://youtu.be/vlYKfp1p2j8)

### Why LT-mapper?

- For LiDAR-based long-term mapping, three challenges exist. 

  


### Features 

- TBA

## How to use?

### Prerequisites 

- TBA

### build 

- TBA

 

## Tutorial and examples

### 0. Single-session Data Generation 

- Using [the saver](https://github.com/gisbi-kim/SC-LIO-SAM#applications) provided with [SC-LIO-SAM](https://github.com/gisbi-kim/SC-LIO-SAM) (also in [SC-A-LOAM](https://github.com/gisbi-kim/SC-A-LOAM)  or [FAST_LIO_SLAM](https://github.com/gisbi-kim/FAST_LIO_SLAM)), a user should generate the set of sesssion data (i.e., keyframe point cloud scans, keyframe scan context descriptors (SCDs), and an initial pose-graph text file) for each session. 

### 1. LT-SLAM 

- [Tutorial video](https://youtu.be/BXBTVurNToU)

 

- command

  ```

    # change the paths in ltslam/config/params.yaml

    roslaunch ltslam run.launch

  ```

### 2. LT-removert and LT-map

- `ltremovert` directory runs removert (for single-session cleaning) and change detection between two sessions. 

- command

  ```

    TBA

  ```

- Outputs

  


## LT-mapper ParkingLot dataset 

- LT-mapper ParkingLot dataset contains six sequences during three days for the same spatial site, but different initial poses. 

- LT-SLAM automatically aligns them in a shared coordinate.

  


- [Dataset Download Link](https://bit.ly/ltmapper_parkinglot_data). A sequence is replayable using [MulRan File Player](https://github.com/irapkaist/file_player_mulran). 

  - For the details of use, see [this tutorial video (TBA)](TBA). 


## Citation

```

@INPROCEEDINGS { kim2021ltmapper,

    AUTHOR = { Giseop Kim, Ayoung Kim },

    TITLE = { {LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping} },

    BOOKTITLE = { Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) },

    YEAR = { 2022 },

}

```

## Contact 

- Maintained by Giseop Kim and please contact the author via ``[email protected]``