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MSF_LOAM is a Multi-Sensor Fusion SLAM implementation based on A-LOAM.
Modifier Keke Liu
Recommend: Ubuntu 18.04 and ROS melodic.
sudo apt install libceres-dev
sudo apt install libpcl-dev
Clone the repository and catkin_make.
Download NSH indoor outdoor to YOUR_DATASET_FOLDER.
roslaunch msf_loam_velodyne msf_loam_velodyne_VLP_16.launch
rosbag play ${YOUR_DATASET_FOLDER}/nsh_indoor_outdoor.bag
Sensor | ROS topic | Frequency | Remark |
---|---|---|---|
LiDAR (Required) | /velodyne_points | 10 | |
GPS | /odometry_gt | 1 | |
IMU | /imu | 400 | higher is better, use xsens_ros_mti_driver to record IMU data with high time precision |
Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and A-LOAM.
For some reasons, this repo will be massively updated, aiming to add features as following:
- IMU intrinsic and extrinsic paramerter estimation
- IMU LiDAR fusion localization (tightly-coupled)
- LiDAR scan undistortion
- Online temporal calibration for system
- Qin, T., Li, P. and Shen, S., 2018. Vins-mono: A robust and versatile monocular visual-inertial state estimator. IEEE Transactions on Robotics, 34(4), pp.1004-1020.
- Qin, T. and Shen, S., 2018, October. Online temporal calibration for monocular visual-inertial systems. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3662-3669). IEEE.
- Wu, Y., 2019. Formula Derivation and Analysis of the VINS-Mono. arXiv preprint arXiv:1912.11986.