SC-TLOAM

What is SC-TLOAM?

• A real-time LiDAR SLAM package that integrates TLOAM and ScanContext.
  • TLOAM for odometry.
  • ScanContext for coarse global localization that can deal with big drifts (i.e., place recognition as kidnapped robot problem without initial pose)
  • and iSAM2 of GTSAM is used for pose-graph optimization.

Dependencies

• We mainly depend on ROS, Ceres and Open3D(for TLOAM), and GTSAM (for pose-graph optimization).
  • For the details to install the prerequisites, please follow the TLOAM and LIO-SAM repositiory.
• The below examples are done under ROS melodic (ubuntu 18) and GTSAM version 4.x.

How to use?

• First, install the abovementioned dependencies, and follow below lines.

    mkdir -p ~/catkin_scTLOAM_ws/src
    cd ~/catkin_scTLOAM_ws/src
    git clone https://github.com/cuge1995/SC-TLOAM.git
    cd ../
    catkin_make
    source ~/catkin_scTLOAM_ws/devel/setup.bash

Example Results

KITTI

• For KITTI (HDL-64 sensor), run using the command (Download KITTI sequence 05 or KITTI sequence 07 first)

  ##In different terminal
  roslaunch tloam tloam_kitti.launch
  roslaunch aloam_velodyne tloam_velodyne_64.launch
  rosbag play 2011_09_30_0018.bag
  

Acknowledgements

• Thanks to LOAM, TLOAM, SC-ALOAM and LIO-SAM code authors. The major codes in this repository are borrowed from their efforts.