xu810201 / fast-lo

Fast Laser Odom with new feature extract, truncated least squares and map manage

fast-lo

fast-lo: Fast Laser Odom with new feature extract, truncated least squares and map manage.

feature

• Feature extract moudle is implemented based on w-loam and lio-sam
• New Feature selection
• map manage is implemented base on ikd-tree
• TLS is implemented base on tloam;

demo

VIDEO-1: multi-storey garage

VIDEO-2: park

dependency

follow Floam, ikd-tree

build

    cd ~/catkin_ws/src
    git clone https://github.com/chengwei0427/fast-lo.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

download test bag

park 链接：https://pan.baidu.com/s/1VGxRfl-kxcw5xIl2ibrzoA 提取码：5nlm

multi-storey 链接：https://pan.baidu.com/s/16aDlKASHSzuVC_ZKTx9ejw 提取码：nwd1

run

TBA...

[update 2022-12-07] trajectory comparison about aloam,floam and fast-lo

evo_ape result, left: fast-lo VS aloam right: fast-lo VS floam(video1)

time compare: fast-lo VS floam

TODO

• change project name
• test TLS
• refactor the code

Acknowledgments

Thanks for LOAM, FLOAM, W-LOAM,tloam, LIO-SAM, ikd-tree.