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lego_loam_ouster_64

Lidar odometry is an effective navigation technique for robot localization when a robot does not have access to GPS. A robot's motion is estimated by solving for the translation and rotation across consecutive lidar scans. For the process to be real-time viable on an embedded system, salient features must be carefully selected from the lidar data, and used as the basis for scan matching. This project will aim to augment a successful lidar odometry framework, LeGO-LOAM, for use with a high-resolution, 64-beam lidar, over which existing algorithms currently do not work in real-time.