LIO-SAM
hdl_localization
| LIO-SAM | hdl_localization | |
|---|---|---|
| 1 | 1 | |
| 3,091 | 759 | |
| - | - | |
| 0.0 | 0.0 | |
| about 1 month ago | 11 months ago | |
| C++ | C++ | |
| BSD 3-clause "New" or "Revised" License | BSD 2-clause "Simplified" License |
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LIO-SAM
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How do I create a map from a point cloud?
Probably, it's better to have a look at LIO-SAM (https://github.com/TixiaoShan/LIO-SAM). It generates a 3D map in a global frame based on LiDAR point cloud, IMU data with optional GPS support.
hdl_localization
What are some alternatives?
VeloView - VeloView performs real-time visualization and easy processing of live captured 3D LiDAR data from Velodyne sensors (Alpha Prime™, Puck™, Ultra Puck™, Puck Hi-Res™, Alpha Puck™, Puck LITE™, HDL-32, HDL-64E). Runs on Windows, Linux and MacOS. This repository is a mirror of https://gitlab.kitware.com/LidarView/VeloView-Velodyne.
mcl_3dl - A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.
hdl_graph_slam - 3D LIDAR-based Graph SLAM
lidarslam_ros2 - ROS 2 package of 3D lidar slam using ndt/gicp registration and pose-optimization
r3live - A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package
ros2-realtime-examples - Minimal ROS 2 real-time cookbook recipes
pendulum - ROS, ROS2, real-time, control, pendulum
Hierarchical-Localization - Visual localization made easy with hloc