blue-stone-j/LeGO-LOAM

LeGO-LOAM-noted

• 原代码位置：https://github.com/RobustFieldAutonomyLab/LeGO-LOAM

• 论文名称与链接https://github.com/blue-stone-j/papers/blob/main/2018%20LeGO-LOAM%20Lightweight%20and%20Ground-Optimized%20Lidar%20Odometry%20and%20Mapping%20on%20Variable%20Terrain.pdf：LeGO-LOAM Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

• lego-LOAM论文介绍中文版：https://zhuanlan.zhihu.com/p/115986186

• 本文件所在目录为包，不是ros的工作空间；而且缺少一个原作者自定义的一个消息包

• 代码分析: https://blog.csdn.net/jiajiading/article/details/102776697

file function

imageProjection

receive cloud and project cloud to pseudo-image.

featureAssociation

extract features and registrate(associate) to calculate frame-frame transformation

mapOptmization

optimization using local map