{"repo":"TUMFTM/OpenLiDARMap","free":true,"listed":false,"github":"https://github.com/TUMFTM/OpenLiDARMap","clone":"git clone https://github.com/TUMFTM/OpenLiDARMap.git","description":"Zero-Drift Point Cloud Mapping using Map Priors","language":"C++","stars":357,"topics":["cpp","docker","localization","mapping","pcd","python","ros2","slam"],"license":"Apache-2.0","category":"deployment-docker-iac","readme_excerpt":"OpenLiDARMap Zero-Drift Point Cloud Mapping using Map Priors Concept We use reference maps in combination with classical LiDAR odometry to enable drift-free localization/mapping. Our approach is designed for high precision mapping. It enables georeferenced LiDAR-only point cloud mapping without GNSS. A detailed description of our pipeline can be found in the linked paper. Usage Install We provide a Docker image on Docker Hub, which will automatically be pulled within the Run section, but you also have the option to build it locally. Run To use our approach, you need a reference map and an initial guess of the first pose. More details on reference maps can be found in our paper. The easiest way to use our approach is with the provided Docker image. We currently support point cloud files in .bin (KITTI), .pcd.bin (nuScenes), .pcd , .ply and .xyz . The output of the algorithm are poses in the KITTI format. We also provide Python bindings. Have a look in the python folder, where we provide a test script. Configure The configuration of this pipeline can be changed in the cpp/config files. The naming suggest the intended usecase for the files. The most important parameters to play with if your results are not as good as expected are: Parameter Description Default Note :-------- :-------- :--------: :-------- pipeline .visualize Toggle GUI true use false on headless servers pipeline .save submaps Toggle submap saving false use to directly save high-resolution PCD submaps preprocess ","default_branch":null,"files":null,"tree":[],"storefront":"/r/TUMFTM","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/TUMFTM/OpenLiDARMap/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}