https://github.com/meyiao/LaserSLAM
SLAM using 2D lidar
https://github.com/meyiao/LaserSLAM
Last synced: about 1 year ago
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SLAM using 2D lidar
- Host: GitHub
- URL: https://github.com/meyiao/LaserSLAM
- Owner: meyiao
- Created: 2017-01-07T10:16:27.000Z (over 9 years ago)
- Default Branch: master
- Last Pushed: 2017-06-13T02:34:29.000Z (almost 9 years ago)
- Last Synced: 2024-11-09T12:23:20.295Z (over 1 year ago)
- Language: Matlab
- Size: 28.5 MB
- Stars: 200
- Watchers: 7
- Forks: 104
- Open Issues: 0
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Metadata Files:
- Readme: README.md
Awesome Lists containing this project
- awesome-slam - CODE
README
# LaserSLAM
SLAM using 2D lidar
Video(better watching in 1080p): https://v.qq.com/x/page/q0363h0i1ej.html
## Usage
1. Run the main.m
2. If you'd like to test the loop closure detection(only detection, no pose graph optimization yet) functionality, dequote the 'Loop Closing' codes in the main.m
## To Do
1. Register the laser points in a probability-grid-map, it will help improve the scan-matching performance.[1]
2. Tightly couple the Laser and IMU to improve robustness and efficiency.
3. Estimate relative pose between two consecutive keyscans, estimate the relative pose's covariance following the approach in [1]
4. Use pose graph optimization to close loops.
5. Use branch and bound method to speed up brute force scan matching.
Though it's not so accurate or robust yet, I believe it can have high performance after finishing the tasks in the ToDo list.
## References
[1]W.Hess, D.Kohler, H.Rapp and D.Andor. Real-Time Loop Closure in 2D LIDAR SLAM. ICRA, 2016