lidar_SLAM

LIDAR SLAM for Autonomous Vehicles

Building command

catkin_make --only-pkg-with-deps lidar_slam

TO-DO List

• Kitti dataset preparation
• Project framework design with ROS
• Front end lidar odometry with Lidar NDT and voxel filter
• Front end refactoring
• Sensors time synchronization algorithm
• Add point cloud visualizer based on PCL
• Lidar odometry accuracy evaluation with evo
• Point cloud distortion correction/motion compensation algorithm
• Module design and refactoring
  • Data pre-process
  • Front end lidar odometry
  • Back end graph optimization
  • Loop closure
  • Visualization
• Back end optimization with g2o and Ceres
• Loop closure
• Front end extension with A-LOAM
• Localization with global map
• IMU state model derivation

Test Environment

• Ubuntu 18.04
• ROS Melodic
• PCL 1.8

G2O Installation

use the zip file in the third_party directory

cd build
cmake ..
make -j8
sudo make install

One error I met while building this project with G2O:

cholmod library not found. It is solved by installing the dependency libsuitesparse-devand re-install the g2o library

sudo apt-get install libsuitesparse-dev

Paper TO-DO List

1. Robust and Precise Vehicle Localization Based on Multi-Sensor Fusion in Diverse City Scenes
2. LiDAR Inertial Odometry Aided Robust LiDAR Localization System in Changing City Scenes