shenhm516/lt-mapper

A Modular Framework for LiDAR-based Lifelong Mapping

LT-mapper

News

• July 2021
  • A preprint manuscript is available (download the preprint).
  • LT-SLAM module is released.
• The future release schedule is here

What is LT-mapper?

• A Modular Framework for LiDAR-based Lifelong Mapping

Why LT-mapper?

• For LiDAR-based long-term mapping, three challenges exist.

  

Features

• TBA

How to use?

Prerequisites

• TBA

build

• TBA

Tutorial and examples

0. Single-session Data Generation

• Using the saver provided with SC-LIO-SAM (also in SC-A-LOAM or FAST_LIO_SLAM), a user should generate the set of sesssion data (i.e., keyframe point cloud scans, keyframe scan context descriptors (SCDs), and an initial pose-graph text file) for each session.

1. LT-SLAM

• Tutorial video

• command

      # change the paths in ltslam/config/params.yaml
      roslaunch ltslam run.launch
  

2. LT-removert

• TBA

3. LT-map

• TBA

LT-mapper ParkingLot dataset

• LT-mapper ParkingLot dataset contains six sequences during three days for the same spatial site, but different initial poses.
• LT-SLAM automatically aligns them in a shared coordinate.

  

• Dataset Download Link. A sequence is replayable using MulRan File Player.
  • For the details of use, see this tutorial video (TBA).

Citation

@article{kim2021ltmapper,
  title={{LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping}},
  author={Kim, Giseop and Kim, Ayoung},
  journal={arXiv preprint arXiv:2107.07712},
  year={2021}
}

Contact

• Maintained by Giseop Kim and please contact the author via paulgkim@kaist.ac.kr

Release schedule

• July 2021 A pre-print manuscript and initial version of LT-SLAM is released.
• By Sep 2021 About LT-SLAM: Currently, we support 2-session alignment. N-session alignment will be supported.
• By Dec 2021 LT-removert and LT-map modules will be released.

Acknowledgements

• TBA