https://github.com/meyiao/LaserSLAM

SLAM using 2D lidar
https://github.com/meyiao/LaserSLAM

Last synced: about 1 month 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 (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2017-06-13T02:34:29.000Z (over 7 years ago)
• Last Synced: 2023-11-27T03:42:48.179Z (about 1 year ago)
• Language: Matlab
• Size: 28.5 MB
• Stars: 182
• Watchers: 7
• Forks: 107
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

• awesome-slam - CODE

README

        
# LaserSLAM

SLAM using 2D lidar


![image](https://github.com/meyiao/LaserSlam/blob/master/museum.png)


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