RI-OM

This repository contains code for RI-OM: Using Robust Normal Distributions Transform And Local Map Iterative Update For LiDAR Odometry and Mapping.

Dependency

• ROS
• gtsam
• Ceres Solver

Compile

You can use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone https://github.com/nkymzsy/RI-OM.git
cd ..
catkin_make -j1

When you compile the code for the first time, you need to add "-j1" behind "catkin_make" for generating some message types. "-j1" is not needed for future compiling.

Run the package

1. Run the launch file:

roslaunch ri_om run.launch

2. Play existing bag files:

rosbag play *.bag --clock

Demo bag

demo.bag

Acknowledgements

Thanks for A-LOAM, LeGO-LOAM,Scan Context.