/lidar-slam

Lidar Slam

Primary LanguageC++

lidar-slam

Lidar Slam based on PCL-GICP matching

Usage: git clone https://github.com/RajathSwaroop/lidar-slam into the source directory of catkin_ws

    catkin_make
    
    source ./devel/setup.bash
    
    roscore
    
    rosrun lidar-slam lidar-slam

TODO: Make it more generic with params in config file. Improve frame rate of GICP matching. Colorize point cloud from Stereo images provided by Kitti Dataset. Graph Optimization using g2o. 3-D bounding box perdication based on color images and Lidar point cloud.