YQChen8/PyLOAM

Python implementation of LOAM (Lidar Odometry and Mapping) for rapid prototyping or educational purpose

PyLOAM

Python version LOAM

PyLOAM is implemented based on LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time).

Requirements

• Python 3.6.9
• Numpy 1.19.1
• Open3D 0.10.0.0
• pypcd 0.1.1

Usage

Currently I convert scans to .npy files.

python3 src/main_loam.py --npy_path ${DATA_PATH}

References

• LOAM: Lidar Odometry and Mapping in Real-time
• loam_velodyne
• A-LOAM

TODOs

Many stuff are still under development:

• Configuration class
• Visualization
• Evaluation

Example

Mapped feature points from NSH indoor outdor dataset.