SOLiD

[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] Now, the SOLiD-A-LOAM code is released!!
[August, 2024] Now, the SOLiD-PyICP-SLAM code is released!!
[August, 2024] The SOLiD is added in awesome-lidar-place-recognition!!
[August, 2024] Now, the SOLiD code is released!!
[July, 2024] SOLiD is accepted in RA-L!!

Note

SOLiD can be integrated with various LiDAR odometry including solid-state LiDAR.
- Integrated with A-LOAM: SOLiD-A-LOAM
- (TBD) Integrated with LOAM-LIVOX: SOLiD-LOAM-LIVOX
- Integrated with a basic ICP odometry: SOLiD-PyICP-SLAM
  - This implementation is fully python-based so slow but educational purpose.

What are the problems with traditional LiDAR Place Recognition?

The traditional method uses a bird eye view and overlooks vertical information.
Also, because it focuses on performance, it is difficult to apply in real-time on an onboard computer.

What is the SOLiD?

SOLiD is a lightweight and fast LiDAR global descriptor for FOV constraints situations that are limited through fusion with other sensors or blocked by robot/sensor operators including mechanical components or solid-state LiDAR (e.g. Livox).

How to use the SOLiD?

Python version
- If you use the other LiDAR sensor, you modify the parameters in parser of test.py and lidar file structure in utils/point_module.py.
```
$ git clone https://github.com/sparolab/solid.git
$ cd python
$ python3 test.py
```

Cpp version

If you use the other LiDAR sensor, you modify the parameters in include/solid_module.h.

  $ git clone https://github.com/sparolab/solid.git
  $ cd cpp
  $ mkdir build
  $ cd build
  $ cmake ..
  $ make
  $ ./test_solid

Utils

If you want to clip the points, you can use python/bin/point_clipper.py

  $ git clone https://github.com/sparolab/solid.git
  $ cd python/bin/
  $ python3 point_clipper.py

Supplementary

Main Contribution

QnA

If you have a question, you utilize a alphaXiv and comment here.

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)