lidar_slam
文章平均质量分 85
常见 Lidar slam 算法总结
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LeGO-LOAM 系列(3): featureAssociation node 分析
LeGO-LOAM 系列(3): featureAssociation node 分析原创 2022-04-05 22:33:52 · 469 阅读 · 0 评论 -
LeGO-LOAM 系列(2): imageProjection node 分析
一、对应源文件add_executable(imageProjection src/imageProjection.cpp)二、原理1. 分割2. 特征提取三、代码分析四、参考LeGO-LOAM和LOAM的区别与联系 - 知乎原创 2022-03-13 18:07:50 · 543 阅读 · 0 评论 -
LeGO-LOAM 系列(1): LeGO-LOAM 安装以及概述
一、githubGitHub - RobustFieldAutonomyLab/LeGO-LOAM (LeGO-LOAM 原始版本) GitHub - facontidavide/LeGO-LOAM-BOR(LeGO-LOAM 代码优化版本, forked from LeGO-LOAM)二、安装依赖原创 2022-03-05 23:58:34 · 5021 阅读 · 5 评论 -
LOAM 系列(4): laserMappingnode 分析
一、对应源文件add_executable(alaserMapping src/laserMapping.cpp)target_link_libraries(alaserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})二、ROS interface1. subscribe topic// sharp ptsros::Subscriber subLaserCloudCornerLast = nh.subsc原创 2021-12-12 16:37:08 · 797 阅读 · 0 评论 -
LOAM 系列(3): laserOdometrynode 分析
一、对应源文件add_executable(alaserOdometry src/laserOdometry.cpp)target_link_libraries(alaserOdometry ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${CERES_LIBRARIES})二、代码分析1. subscribe topic// sharp point clouds, 更新 cornerSharpBufros::Subscriber subCornerPo原创 2021-11-23 22:46:37 · 560 阅读 · 0 评论 -
LOAM 系列(2): ascanRegistration node 分析
一、对应源文件add_executable(ascanRegistration src/scanRegistration.cpp)src/scanRegistration.cpp二、代码分析1.原创 2021-10-27 23:12:54 · 814 阅读 · 0 评论 -
LOAM 系列(1): A-LOAM 安装以及概述
一、githubGitHub - HKUST-Aerial-Robotics/A-LOAM: Advanced implementation of LOAM二、安装依赖1. ROSUbuntu 64-bit 16.04 ROS Kinetic比较常规,就不赘述了2.Ceres SolverInstallation — Ceres Solver安装版本:3. PCLsudo apt install libpcl-dev三、编译1. 下载代码至 catkin..原创 2021-10-25 23:31:06 · 4025 阅读 · 8 评论 -
Lidar SLAM 资料汇总
一、LOAM 系列1. 详细解读2. 参考LOAM-SLAM原理深度解析 - 知乎 LeGO-LOAM和LOAM的区别与联系 - 知乎 GitHub - HKUST-Aerial-Robotics/A-LOAM: Advanced implementation of LOAM GitHub - cuitaixiang/LOAM_NOTED: loam code noted in Chinese(loam中文注解版)二、Cartographer1. 详细解读todo2.原创 2021-10-24 22:07:16 · 386 阅读 · 0 评论