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xchu_slam's Introduction

XCHU_SLAM

Introduction

xchu_odom添加回环，参考LEGO-LOAM

image-20201124154817082

image-20201125061549588

高度上偏移纠正回来了。

image-20201125061617522

Dependency

  • GTSAM(Georgia Tech Smoothing and Mapping library, 4.0.0-alpha2)

Usage

Run the package

  1. Run the launch file:
roslaunch xchu_slam  mapping.launch
  1. Play existing bag files kitti, bag包播放时请0.1倍速，因为目前性能上还未优化，在bag包播放完成后，建图也将结束，后续将处理成离线的，逐帧处理。ctrl+c关闭终端则自动保存地图。
rosbag play kitti_2011_10_03_drive_0027_synced.bag --clock -r 0.1

Issues

  • 线程安全
  • 目前imu和编码器不可用，请设置为false
  • pitch 的累计误差导致高度漂移问题
  • 位姿有抖动情况

TODOs

  • 雷达惯导紧耦合
  • 基于GPS的回环检测

xchu_slam's People

Contributors

jokerjohn avatar

Stargazers

RUNHENG ZUO avatar my avatar Jiajun Zhao avatar SHINE avatar avatar avatar Robin Ross avatar xidianrishi avatar Giseop Kim avatar Yuxuan Liu avatar gogojjh avatar Tomato1107 avatar Shq feng avatar

Watchers

James Cloos avatar

Forkers

wbercode richardhansir fengwucb pipigenius huangxiongd xiaoxinnn 772894624 hit-ygq

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