Wildcat SLAM

This is an unofficial demonstrative implentation of Wildcat SLAM which is described in the following paper:

@article{ramezani2022wildcat,
  title={Wildcat: Online continuous-time 3d lidar-inertial slam},
  author={Ramezani, Milad and Khosoussi, Kasra and Catt, Gavin and Moghadam, Peyman and Williams, Jason and Borges, Paulo and Pauling, Fred and Kottege, Navinda},
  journal={arXiv preprint arXiv:2205.12595},
  year={2022}
}

1. Prerequisites

1.1 Ubuntu and ROS

Recommend: Ubuntu 20.04 and ROS Noetic.

1.2. Dependencies

Ceres Solver

sudo apt install libceres-dev

PCL

sudo apt install libpcl-dev

fmt

sudo apt install libfmt-dev

libbenchmark-dev

sudo apt install libbenchmark-dev

protobuf

sudo apt install protobuf-compiler

2. Build Wildcat SLAM

Clone the repository and catkin_make.

3. License

GPLv3.