SSL_SLAM

Lightweight 3-D Localization and Mapping for Solid-State LiDAR (Intel Realsense L515 as an example)

This code is an implementation of paper "Lightweight 3-D Localization and Mapping for Solid-State LiDAR", accepted in IEEE Robotics and Automation Letters, 2021

A summary video demo can be found at Video

If you would like to separate mapping and localization, you can check this repo: SSL_SLAM2

Modifier: Wang Han, Nanyang Technological University, Singapore

Running speed: 20 Hz on Intel NUC, 30 Hz on PC

1. Solid-State Lidar Sensor Example

1.1 Scene reconstruction

1.2 SFM building example

1.3 Localization and Mapping with L515

2. Prerequisites

2.1 Ubuntu and ROS

Ubuntu 64-bit 18.04.

ROS Melodic. ROS Installation

2.2. Ceres Solver

Follow Ceres Installation.

2.3. PCL

Follow PCL Installation.

Tested with 1.8.1

2.4 OctoMap

Follow OctoMap Installation.

$ sudo apt install ros-melodic-octomap*

2.5. Trajectory visualization

For visualization purpose, this package uses hector trajectory sever, you may install the package by

sudo apt-get install ros-melodic-hector-trajectory-server

Alternatively, you may remove the hector trajectory server node if trajectory visualization is not needed

3. Build

3.1 Clone repository:

    cd ~/catkin_ws/src
    git clone https://github.com/wh200720041/SSL_SLAM.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3.2 Download test rosbag

You may download our recorded data if you dont have realsense L515, and by defult the file should be under home/user/Downloads

3.3 Launch ROS

if you would like to create the map at the same time, you can run

    roslaunch ssl_slam ssl_slam_mapping.launch

or create probability map

    roslaunch ssl_slam ssl_slam_octo_mapping.launch

if only localization is required, you may refer to run

    roslaunch ssl_slam ssl_slam.launch

4. Sensor Setup

If you have new Realsense L515 sensor, you may follow the below setup instructions

4.1 L515

4.2 Librealsense

Follow Librealsense Installation

4.3 Realsense_ros

Copy realsense_ros package to your catkin folder

    cd ~/catkin_ws/src
    git clone https://github.com/IntelRealSense/realsense-ros.git
    cd ..
    catkin_make

4.4 Launch ROS

    roslaunch ssl_slam ssl_slam_L515.launch

This runs ssl_slam_mapping.launch with live L515 data.

5. Citation

If you use this work for your research, you may want to cite

@article{wang2021lightweight,
  title={Lightweight 3-D Localization and Mapping for Solid-State LiDAR},
  author={Wang, Han and Wang, Chen and Xie, Lihua},
  journal={arXiv preprint arXiv:2102.03800},
  year={2021}
}

ciwedwang/SSL_SLAM