This work is 3D lidar based Simultaneous Localization And Mapping (SLAM), including both front-end and back-end SLAM, at 20Hz.

Author: Wang Han, Nanyang Technological University, Singapore

For front-end only odometry, you may visit FLOAM (fast lidar odometry and mapping)

Watch our demo at Video Link

Green: ISCLOAM Red: Ground Truth

                  KITTI sequence 00                                  KITTI sequence 05

Platform: Intel® Core™ i7-8700 CPU @ 3.20GHz

Average translation error : 1.08%

Average rotation error : 0.000073

Ubuntu 64-bit 18.04.

ROS Melodic. ROS Installation

Follow Ceres Installation.

Follow PCL Installation.

Follow GTSAM Installation.

Follow OPENCV Installation.

For visualization purpose, this package uses hector trajectory sever, you may install the package by

sudo apt-get install ros-melodic-hector-trajectory-server

Alternatively, you may remove the hector trajectory server node if trajectory visualization is not needed

cd ~/catkin_ws/src
git clone https://github.com/wh200720041/iscloam.git
cd ..
catkin_make -j1
source ~/catkin_ws/devel/setup.bash

Download KITTI sequence 05 or KITTI sequence 07

Unzip compressed file 2011_09_30_0018.zip. If your system does not have unzip. please install unzip by

sudo apt-get install unzip 

This may take a few minutes to unzip the file, by default the file location should be /home/user/Downloads/2011_09_30_0018.bag

cd ~/Downloads
unzip ~/Downloads/2011_09_30_0018.zip

roslaunch iscloam iscloam.launch

if you would like to generate the map of environment at the same time, you can run

roslaunch iscloam iscloam_mapping.launch

Note that the global map can be very large, so it may takes a while to perform global optimization, some lag is expected between trajectory and map since they are running in separate thread. More CPU usage will happen when loop closure is identified.

To generate rosbag file of kitti dataset, you may use the tools provided by kitti_to_rosbag or kitti2bag

You may use iscloam_velodyne.launch for your own velodyne sensor, such as Velodyne VLP-16.

If you use this work for your research, please cite

@article{wang2020intensity,
  title={Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection},
  author={Wang, Han and Wang, Chen and Xie, Lihua},
  journal={arXiv preprint arXiv:2003.05656},
  year={2020}
}

Thanks for A-LOAM and LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and LOAM_NOTED.