Real-Time Simultaneous Localization and Mapping with LiDAR Intensity

The utilization of LiDAR's intensity image for scan matching addresses the issue of degeneracy.

Paper

Thank you for citing our paper if you use any of this code or datasets.

@inproceedings{du2023real,
  title={Real-Time Simultaneous Localization and Mapping with LiDAR intensity},
  author={Du, Wenqiang and Beltrame, Giovanni},
  booktitle={2023 International Conference on Robotics and Automation (ICRA)},
  pages={4164--4170},
  year={2023},
  organization={IEEE}
}

Authors

• @Wenqiang Du
  • @Linkedin
  • @Github
• @Giovanni Beltrame
  • @Linkedin

Installation

Dependency

• ROS noetic
• ceres-solver

  $ mkdir ~/dependencies_ws
  $ cd ~/dependencies_ws/ 
  $ wget -O ~/dependencies_ws/ceres.zip https://github.com/ceres-solver/ceres-solver/archive/1.14.0.zip 
  $ apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev unzip libsuitesparse-dev 
  $ cd ~/dependencies_ws/ && unzip ceres.zip -d ~/dependencies_ws/ 
  $ cd /dependencies_ws/ceres-solver-1.14.0 
  $ mkdir ceres-bin && cd ceres-bin 
  $ cmake ..    
  $ sudo make install -j4
  

• GTSAM

  $ cd ~/dependencies_ws/
  $ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.1.0.zip
  $ unzip gtsam.zip -d ~/dependencies_ws/
  $ cd ~/dependencies_ws/gtsam-4.1.0
  $ mkdir build && cd build
  $ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
  $ sudo make install -j4
  

• DBOW3

  $ cd ~/dependencies_ws/
  $ git clone https://github.com/rmsalinas/DBow3.git
  $ cd DBow3/ && mkdir build && cd build
  $ cmake ..
  $ make 
  $ sudo make install
  

Compile and Launch

• Create workspace

  mkdir -p ~/catkin_ws/src
  

• Clone the project

  cd ~/catkin_ws/src/
  git clone https://github.com/SnowCarter/Intensity_based_LiDAR_SLAM.git
  

• Go to the project workspace directory

  cd ../
  

• Compile

  source /opt/ros/noetic/setup.bash
  catkin_make
  

• Launch

  source devel/setup.bash 
  roslaunch intensity_feature_tracker spot.launch rviz:=1
  

• Play bag file

  rosbag play xxx.bag --clock
  

Docker support

Building

• Create workspace

  mkdir -p ~/catkin_ws/src
  

• Clone the project

  cd ~/catkin_ws/src/
  git clone https://github.com/SnowCarter/Intensity_based_LiDAR_SLAM.git
  

• Go to the project directory

  cd Intensity_based_LiDAR_SLAM/
  

• Build docker image

  docker build . -t intensity_lidar_slam
  

Launch

• Launch docker images with intensity Lidar SLAM (Terminal 1)

  docker run --rm -it --net=host --privileged intensity_lidar_slam:latest /bin/bash -i -c 'roslaunch intensity_feature_tracker spot.launch rviz:=0'
  

• Play bag file (Terminal 2)

  rosbag play xxx.bag --clock
  

• RVIZ (Terminal 3)

  rosrun rviz rviz -d ~/catkin_ws/src/Intensity_based_LiDAR_SLAM/launch/rviz_setting.rviz
  

• Show spot mesh (optional):
  • rviz need to find the mesh file according to the package name, so we need to make sure this package is compiled and sourced, even you can't compile it successfully.

    cd ~/catkin_ws/
    catkin_make
    

  • in Terminal 3:

    source ~/catkin_ws/devel/setup.bash
    rosrun rviz rviz -d ~/catkin_ws/src/Intensity_based_LiDAR_SLAM/launch/rviz_setting.rviz
    

Example Bag file

• Onedrive: Ouster (OS0-64)

  path:         spot_corridor.bag
  version:      2.0
  duration:     8:46s (526s)
  start:        Aug 12 2022 16:25:24.06 (1660335924.06)
  end:          Aug 12 2022 16:34:10.95 (1660336450.95)
  size:         8.2 GB
  messages:     57957
  compression:  lz4 [5270/5270 chunks; 53.28%]
  uncompressed: 15.5 GB @ 30.0 MB/s
  compressed:    8.2 GB @ 16.0 MB/s (53.28%)
  types:        sensor_msgs/Imu         [6a62c6daae103f4ff57a132d6f95cec2]
                sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
  topics:       /os_cloud_node/imu      52688 msgs    : sensor_msgs/Imu        
                /os_cloud_node/points    5269 msgs    : sensor_msgs/PointCloud2
  

Contributing

Contributions are always welcome!

License

Acknowledgements

• Robust Place Recognition using an Imaging Lidar
• A-LOAM
• VINS-Mono
• Scan Context
• LVI-SAM
• ikd-Tree

🚀 About Me

I'm a Ph.D. candidate in MISTLab.

Support

For support, email [email protected].