SC-A-LOAM

What is SC-A-LOAM?

• A real-time LiDAR SLAM package that integrates A-LOAM and ScanContext.

Repository Information

Original Repository link

https://github.com/gisbi-kim/SC-A-LOAM

Required Sensors

• LIDAR [VLP-16, HDL-32, HDL-64, Ouster OS1-64]

Prerequisites (dependencies)

• ROS
• GTSAM version 4.x.

• If GTSAM is not installed, follow the steps below.

  bash wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/ cd ~/Downloads/gtsam-4.0.2/ mkdir build && cd build cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF .. sudo make install -j8

ROS Compatibility

• ROS 1

Build & Run

1) Build

• First, install the above mentioned dependencies and follow below lines.

  ```bash mkdir -p ~/catkin_scaloam_ws/src cd ~/catkin_scaloam_ws/src git clone https://github.com/gisbi-kim/SC-A-LOAM.git cd ../ catkin_make source ~/catkin_scaloam_ws/devel/setup.bash

  ```

2) Set parameters

• After downloading the repository, change topic and sensor settings on the launch files.

Scan Context parameters

• If encountering ghosting error or loop is not closed, change the scan context parameters.
• Adjust the scan context settings with the parameters in the marked area.

3) Run

bash roslaunch aloam_velodyne aloam_mulran.launch

4) Saving as PCD file

bash rosrun pcl_ros pointcloud_to_pcd input:=/aft_pgo_map

Example Results

Riverside 01, MulRan dataset

• The MulRan dataset provides lidar scans (Ouster OS1-64, horizontally mounted, 10Hz) and consumer level gps (u-blox EVK-7P, 4Hz) data.
• About how to use (publishing data) data: see here https://github.com/irapkaist/file_player_mulran

• example videos on Riverside 01 sequence.

  bash 1. with consumer level GPS-based altitude stabilization: https://youtu.be/FwAVX5TVm04 2. without the z stabilization: https://youtu.be/okML_zNadhY

• example result:

  

KITTI 05

• For KITTI (HDL-64 sensor), run using the command

  bash roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch # for KITTI dataset setting

• To publish KITTI scans, you can use mini-kitti publisher, a simple python script: https://github.com/gisbi-kim/mini-kitti-publisher
• example video (no GPS used here): https://youtu.be/hk3Xx8SKkv4

• example result:

  

Contact

• Maintainer: paulgkim@kaist.ac.kr