https://github.com/hku-mars/voxelmap
[RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry
https://github.com/hku-mars/voxelmap
lidar mapping
Last synced: 3 months ago
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[RA-L 2022] An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry
- Host: GitHub
- URL: https://github.com/hku-mars/voxelmap
- Owner: hku-mars
- Created: 2022-02-24T08:46:42.000Z (over 3 years ago)
- Default Branch: master
- Last Pushed: 2023-05-30T04:59:30.000Z (about 2 years ago)
- Last Synced: 2025-03-29T03:08:24.696Z (4 months ago)
- Topics: lidar, mapping
- Language: C++
- Homepage:
- Size: 25.7 MB
- Stars: 578
- Watchers: 24
- Forks: 85
- Open Issues: 26
-
Metadata Files:
- Readme: README.md
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README
# VoxelMap
## Introduction
**VoxelMap** is an efficient and probabilistic adaptive(coarse-to-fine) voxel mapping method for 3D LiDAR. Unlike the point cloud map, VoxelMap uses planes as representation units. A scan of LiDAR data will generate or update the plane. Each plane contains its own plane parameters and uncertainties that need to be estimated. This repo shows how to integrate VoxelMap into a LiDAR odometry.
The plane map constructed by VoxelMap on KITTI Odometry sequence 00.
### Developers:
[Chongjian Yuan 袁崇健](https://github.com/ChongjianYUAN)， [Wei Xu 徐威](https://github.com/XW-HKU)
### Related paper
Related paper available on **arxiv**:
[Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry](https://arxiv.org/abs/2109.07082)
### Related video
Our accompanying videos are now available on **YouTube**.
## 1. Prerequisites
### 1.1. **PCL && Eigen**
PCL>= 1.8, Follow [PCL Installation](http://www.pointclouds.org/downloads/linux.html).
Eigen>= 3.3.4, Follow [Eigen Installation](http://eigen.tuxfamily.org/index.php?title=Main_Page).
### 1.2. **livox_ros_driver**
Follow [livox_ros_driver Installation](https://github.com/Livox-SDK/livox_ros_driver).
## 2. Build
Clone the repository and catkin_make:
```
cd ~/$A_ROS_DIR$/src
git clone https://github.com/hku-mars/VoxelMap.git
cd ..
catkin_make
source devel/setup.bash
```
- Remember to source the livox_ros_driver before build (follow 1.2 **livox_ros_driver**)
## 3. Run on Dataset
Current version of VoxelMap does not support IMU and requires **undistorted** point cloud.
### 3.1 Run on KITTI Odometry dataset
Step A: Setup before run
Edit ``` config/velodyne.yaml ``` to set the below parameters:
1. LiDAR point cloud topic name: ``` lid_topic ```
2. If you want to show the voxel map, set ```pub_voxel_map``` to ```true```
3. If you want to show the accumulated point cloud map, set ```pub_point_cloud``` to ```true```
Step B: Run below
```
cd ~/$VOXEL_MAP_ROS_DIR$
source devel/setup.bash
roslaunch voxel_map mapping_velodyne.launch
```
Step C: Play rosbag.
If want to save the trajectory result (camera pose), set the ```write_kitti_log``` to ```true``` and change the ```result_path``` to your own path.
### 3.2 Run on L515 dataset
Step A: Download our bags here: [Voxel Map L515 Datasets](https://connecthkuhk-my.sharepoint.com/:f:/g/personal/ycj1_connect_hku_hk/EgILu82us_ZHhYERmckDbIkBRwsWuVANMunOePjHtSOqTg?e=iW3izS)
Then the same step as **3.1**
## 4.Acknowledgments
Thanks for [Fast-LIO2](https://github.com/hku-mars/FAST_LIO) (Fast Direct LiDAR-inertial Odometry)
## 5. License
The source code is released under [GPLv2](http://www.gnu.org/licenses/) license.For any technical issues, please contact us via email [[email protected]](mailto:[email protected]). For commercial use, please contact Dr. Fu Zhang [[email protected]](mailto:[email protected]).