https://github.com/ningwang1028/lidar_slam_3d
3d lidar slam package.
https://github.com/ningwang1028/lidar_slam_3d
lidar slam
Last synced: about 1 year ago
JSON representation
3d lidar slam package.
- Host: GitHub
- URL: https://github.com/ningwang1028/lidar_slam_3d
- Owner: ningwang1028
- Created: 2018-10-16T08:14:37.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2018-10-16T09:24:17.000Z (over 7 years ago)
- Last Synced: 2024-11-09T12:23:19.973Z (over 1 year ago)
- Topics: lidar, slam
- Language: C++
- Size: 2.45 MB
- Stars: 128
- Watchers: 7
- Forks: 53
- Open Issues: 3
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Metadata Files:
- Readme: README.md
Awesome Lists containing this project
- awesome-slam - CODE
README
# lidar_slam_3d
## Details
lidar_slam_3d is a ROS package for real-time 3D slam. It is based on NDT registration algorithm. With loop detection and back-end optimization, a map with global consistency can be generated.
## Example
An example map build by vlp-16.
## Requirements
* pcl
* g2o
## Build
```shell
cd ${catkin_workspace}/src
git clone https://github.com/ningwang1028/lidar_slam_3d.git
cd ..
catkin_make
```
## Run
```shell
roslaunch lidar_slam_3d lidar_slam_3d.launch
```