Radar SLAM: yeti radar odometry + scan context
Radar SLAM: yeti radar odometry + ScanContext-based Loop Closing
odometry/yeti_radar_odometry/src/odometry.cpp
for the details.odometry/yeti_radar_odometry/src/odometry.cpp
for the details.pgo/SC-A-LOAM/laserPosegraphOptimization.cpp
.pgo/SC-A-LOAM/laserPosegraphOptimization.cpp
for the details (ps. the implementation is eqaul to SC-A-LOAM and it means laserPosegraphOptimization.cpp
node is generic!)First, clone and build.
$ mkdir -p ~/catkin_radarslam/src && cd ~/catkin_radarslam/src
$ git clone https://github.com/gisbi-kim/navtech-radar-slam.git && cd ..
$ catkin_make
Second,
Then, enjoy!
$ source devel/setup.bash
$ roslaunch src/navtech-radar-slam/launch/navtech_radar_slam_mulran.launch
If you cite this repository, please consider below papers.
@ARTICLE{burnett_ral21,
author = {Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot},
journal={IEEE Robotics and Automation Letters},
title={Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation?},
year={2021},
volume={6},
number={2},
pages={771-778},
doi={10.1109/LRA.2021.3052439}}
}
@INPROCEEDINGS { gkim-2018-iros,
author = {Kim, Giseop and Kim, Ayoung},
title = { Scan Context: Egocentric Spatial Descriptor for Place Recognition within {3D} Point Cloud Map },
booktitle = { Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems },
year = { 2018 },
month = { Oct. },
address = { Madrid }
}
@INPROCEEDINGS{ gskim-2020-mulran,
TITLE={MulRan: Multimodal Range Dataset for Urban Place Recognition},
AUTHOR={Giseop Kim and Yeong Sang Park and Younghun Cho and Jinyong Jeong and Ayoung Kim},
BOOKTITLE = { Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) },
YEAR = { 2020 },
MONTH = { May },
ADDRESS = { Paris }
}