SOLiD-A-LOAM

[IEEE RA-L] This repository is the official code for Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition.

Hogyun Kim, Jiwon Choi, Taehu Sim, Giseop Kim, Younggun Cho^†

Spatial AI and Robotics Lab (SPARO)

News

[August, 2024] A real-time Livox LiDAR SLAM package that integrates LOAM-Livox and SOLiD called SOLiD-LOAM-LIVOX will be released!!

What is SOLiD-A-LOAM?

A FOV-agnostic LiDAR SLAM package that integrates A-LOAM and SOLiD.

Prerequisites

Ubuntu (version: 20.04)
ceres (version: 1.14)
gtsam (version: 4.0.0-alpha2)

How to use?

Linux

mkdir -p ~/solid_aloam_ws/src
cd ~/solid_aloam_ws/src
git clone https://github.com/sparolab/SOLiD-A-LOAM.git
cd ../
catkin_make
source ~/solid_aloam_ws/devel/setup.bash
roslaunch solid_a_loam solid_a_loam.launch

Docker

nvidia-docker run --gpus all --privileged \
-it --name solid_aloam --ipc=host --shm-size=512M \
--device=/dev/video0:/dev/video0 -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
-e DISPLAY=unix$DISPLAY -v /root/.Xauthority:/root/.Xauthority --env="QT_X11_NO_MITSHM=1" \
-v (your SOLiD-A-LOAM path):/home/solid_aloam_ws/src \
-v (your Datasets path):/home/storage1 cokr6901/solid-a-loam:latest

Example Results

KITTI Datasets (Narrow FOV)
DiTer Datasets (Legged Robot)

Supplementary

Main Contribution

Citation

@article{kim2024narrowing,
  title={Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition},
  author={Kim, Hogyun and Choi, Jiwon and Sim, Taehu and Kim, Giseop and Cho, Younggun},
  journal={IEEE Robotics and Automation Letters},
  year={2024},
  publisher={IEEE}
}

Contact

Hogyun Kim (hg.kim@inha.edu)
Jiwon Choi (jiwon2@inha.edu)

Special Thanks

Thank you Giseop Kim for providing the base code.