FLOAM

Fast LOAM (Lidar Odometry And Mapping)

This work is an optimized version of A-LOAM and LOAM with the computational cost reduced by up to 3 times. This code is modified from LOAM and A-LOAM .

Modifier: Wang Han, Nanyang Technological University, Singapore

Modifier: Evan Flynn

1. Demo Highlights

Watch our demo at Video Link

2. Evaluation

2.1. Computational efficiency evaluation

Computational efficiency evaluation (based on KITTI dataset): Platform: Intel® Core™ i7-8700 CPU @ 3.20GHz | Dataset | ALOAM | FLOAM | |———————————————-|—————————-|————————| | KITTI | 151ms | 59ms |

Localization error: | Dataset | ALOAM | FLOAM | |———————————————-|—————————-|————————| | KITTI sequence 00 | 0.55% | 0.51% | | KITTI sequence 02 | 3.93% | 1.25% | | KITTI sequence 05 | 1.28% | 0.93% |

2.2. localization result

2.3. mapping result

3. Prerequisites

3.1 Ubuntu and ROS

Ubuntu 64-bit 18.04 or 20.04

ROS Melodic or Noetic. ROS Installation

3.2. **Install dependencies using rosdep

Install dependencies using rosdep:

cd /your/catkin_ws
rosdep install --from-paths src --ignore-src -y

Or you can manually install the dependencies below:

3.3. Ceres Solver

Follow Ceres Installation.

3.4. PCL

Follow PCL Installation.

3.5. Trajectory visualization

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

4. Build

Make sure to have installed the required dependencies as above before trying to build this package.

4.1 Clone repository:

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

4.2 Download test rosbag

Download KITTI sequence 05 or KITTI sequence 07

File truncated at 100 lines see the full file