RobustFieldAutonomyLab/LeGO-LOAM

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LeGO-LOAM This repository contains code for a lightweight and ground optimized lidar odometry and mapping (LeGO-LOAM) system for ROS compatible UGVs. The system takes in point cloud from a Velodyne VLP-16 Lidar (palced horizontally) and optional IMU data as inputs. It outputs 6D pose estimation in real-time. A demonstration of the system can be found here -> https://www.youtube.com/watch?v=O3tz_ftHV48 Lidar-inertial Odometry An updated lidar-initial odometry package, LIO-SAM, has been open-sourced...