A robust LiDAR Odemetry and Mapping (LOAM) package for Livox LiDAR
Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. We use Ceres-Solver for scan matching to avoid complicated differential geometry derivation. The codes are well structured and streamlined to improve readability and extendability.
Developer: Jiarong Lin
1.1 Ubuntu and ROS
Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic. ROS Installation
1.2. Ceres Solver
Follow Ceres Installation.
Follow PCL Installation.
Clone the repository and catkin_make:
cd ~/catkin_ws/src git clone https://github.com/hku-mars/loam_livox.git cd ../ catkin_make source ~/catkin_ws/devel/setup.bash
3. Directly run
Connect to your PC to Livox LiDAR (mid-40) by following Livox-ros-driver installation, then
roslaunch loam_livox livox.launch
4. Rosbag Example
4.1. Common rosbag
Download Our recorded rosbag and then
roslaunch loam_livox rosbag.launch rosbag play YOUR_DOWNLOADED.bag
4.1. Large-scale rosbag
For large scale rosbag (For example HKUST_01.bag ), we recommand you launch with bigger line and plane resolution (using rosbag_largescale.launch)
roslaunch loam_livox rosbag_largescale.launch rosbag play YOUR_DOWNLOADED.bag
The source code is released under GPLv3 license.
We are still working on improving the performance and reliability of our codes. For any technical issues, please contact me via email Jiarong Lin < firstname.lastname@example.org >.
For commercial use, please contact Dr. Fu Zhang < email@example.com >