- A real-time LiDAR SLAM package that integrates TLOAM and ScanContext.
- TLOAM for odometry.
- ScanContext for coarse global localization that can deal with big drifts (i.e., place recognition as kidnapped robot problem without initial pose)
- and iSAM2 of GTSAM is used for pose-graph optimization.
- We mainly depend on ROS, Ceres and Open3D(for TLOAM), and GTSAM (for pose-graph optimization).
- For the details to install the prerequisites, please follow the TLOAM and LIO-SAM repositiory.
- The below examples are done under ROS melodic (ubuntu 18) and GTSAM version 4.x.
- First, install the abovementioned dependencies, and follow below lines.
mkdir -p ~/catkin_scTLOAM_ws/src
cd ~/catkin_scTLOAM_ws/src
git clone https://github.com/cuge1995/SC-TLOAM.git
cd ../
catkin_make
source ~/catkin_scTLOAM_ws/devel/setup.bash
- For KITTI (HDL-64 sensor), run using the command (Download KITTI sequence 05 or KITTI sequence 07 first)
##In different terminal roslaunch tloam tloam_kitti.launch roslaunch aloam_velodyne tloam_velodyne_64.launch rosbag play 2011_09_30_0018.bag
- Thanks to LOAM, TLOAM, SC-ALOAM and LIO-SAM code authors. The major codes in this repository are borrowed from their efforts.
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