This is a little demo of deep-learning based odomentry write by myself. The demo has tested on the Kitti Dasaset.
An end-to-end deep-learning-based lidar odometry.
In order to ensure the speed of odometry, cylinder projection of lidar points is adopted.
python>3.6
pytorch>=1.5
cupy
tqdm
shutil
matplotlib
glob
argparse
Firstly, change the config information in args.py
.
Then run,
python train.py
Change the config information in args.py
and run,
python test.py
Note: sequence 00-08 for training, 09 and 10 for testing.