LSD (LiDAR SLAM & Detection) is an open source perception architecture for autonomous vehicle/robotic
LSD is an open source perception architecture for autonomous vehicle and robotics.
LSD currently supports many features:
[2024-03-28] Update to v2.1.0
[2023-10-08] Better 3DMOT (GIOU, Two-stage association).
Performance (WOD val) | AMOTA ↑ | AMOTP ↓ | IDs(%) ↓ |
---|---|---|---|
AB3DMOT | 47.84 | 0.2584 | 0.67 |
GIOU + Two-stage | 54.79 | 0.2492 | 0.19 |
[2023-07-06] A new detection model (CenterPoint-VoxelNet) is support to run realtime (30FPS+).
Performance (WOD val) | Vec_L1 | Vec_L2 | Ped_L1 | Ped_L2 | Cyc_L1 | Cyc_L2 |
---|---|---|---|---|---|---|
PointPillar | 73.71/73.12 | 65.71/65.17 | 71.70/60.90 | 63.52/53.78 | 65.30/63.77 | 63.12/61.64 |
CenterPoint-VoxelNet (1 frame) | 74.75/74.24 | 66.09/65.63 | 77.66/71.54 | 68.57/63.02 | 72.03/70.93 | 69.63/68.57 |
CenterPoint-VoxelNet (4 frame) | 77.55/77.03 | 69.65/69.17 | 80.72/77.80 | 72.91/70.15 | 72.63/71.72 | 70.55/69.67 |
Note: the CenterPoint-VoxelNet is built on libspconv and the GPU with SM80+ is required.
[2023-06-01] Web UI(JS code of preview, tviz and map editor) is uploaded.
LSD can be worked both on x86 PC(with GPU, SM 80+), nvidia Orin AGX/NX and RK3588 (old version can be worked on Xavier AGX/NX).
Ubuntu20.04, Python3.8, Eigen 3.3.7, Ceres 1.14.0, Protobuf 3.8.0, NLOPT 2.4.2, G2O, OpenCV 4.5.5, PCL 1.9.1, GTSAM 4.0
nvidia-docker2 is needed to install firstly Installation.
A x86_64 docker image is provided to test.
sudo docker pull 15liangwang/lsd-cuda # sudo docker pull 15liangwang/auto-ipu, if you don't have GPU
sudo docker run --gpus all -it -d --net=host --privileged --shm-size=4g --name="LSD" -v /media:/root/exchange 15liangwang/lsd-cuda
sudo docker exec -it LSD /bin/bash
Clone this repository and build the source code
cd /home/znqc/work/
git clone https://github.com/w111liang222/lidar-slam-detection.git
cd lidar-slam-detection/
unzip slam/data/ORBvoc.zip -d slam/data/
python setup.py install
bash sensor_inference/pytorch_model/export/generate_trt.sh
Run LSD
tools/scripts/start_system.sh
Open http://localhost (or http://localhost:1234) in your browser, e.g. Chrome, and you can see this screen.
Download the demo data Google Drive | 百度网盘(密码sk5h) and unzip it
unzip demo_data.zip -d /home/znqc/work/
tools/scripts/start_system.sh # re-run LSD
More usages can be found here
LSD is NOT built on the Robot Operating System (ROS), but we provides some tools to bridge the communication with ROS.
The LSD is tested on Orin with JetPack5.0.2, Installation
LSD is released under the Apache 2.0 license.
In the development of LSD, we stand on the shoulders of the following repositories:
If you find this project useful in your research, please consider cite and star this project:
@misc{LiDAR-SLAM-Detection,
title={LiDAR SLAM & Detection: an open source perception architecture for autonomous vehicle and robotics},
author={LiangWang},
howpublished = {\url{https://github.com/w111liang222/lidar-slam-detection}},
year={2023}
}
LiangWang [email protected]