Description

The repository implements the LOAM algorithm by Zhang et al. (2014) for realtime odometry and mapping using raw LIDAR scans, as a standalone library.

Dependencies

The repository is build using Bazel. It assumes local repositories for

• OpenCV
• PCL
• Eigen

Please change the locations if necessary in the WORKSPACE file.

On Ubuntu 16.04 dependencies can be fetched with:

sudo apt-get update && sudo apt-get install -y libopencv-dev libpcl-dev libeigen3-dev

To build:

bazel build //...

KITTI example

To run on a KITTI sequence of raw LIDAR data,

bazel build -c opt tests:loam_odom
./bazel-bin/tests/loam_odom pose_file.txt aggregated.ply $(ls $PATH_TO_KITTI_VELODYNE/*.bin | sort | xargs)

To Do

• Add some unit / functional tests.
• Remove OpenCV and PCL dependencies, and use just Eigen for portability.
• Add visualization scripts.
• Run with 2-threads (one for odometry, the other for mapping).