Open source library for Velodyne 3D LIDAR point clouds processing provided by Robo@FIT group at Brno University of Technology.

Currently, the odometry estimation is main contribution of this repository. Available source code implements:

• Collar Line Segments algorithm for fast odometry estimation
• RANSAC based point cloud registration using local features from RGB image
• Visual loop detection by VFH (experimental)

Library requires following dependencies to be installed in the system:

• Eigen3 library
• OpenCV version 2.4.9 (for OpenCV v3 compatibility see branch opencv3)
• and PCL 1.7 library.

As a simple CMake project, it can be built by executing:

cd but_velodyne_lib
mkdir bin; cd bin
cmake ..
make

Detailed description of algorithm can be found in publication (see doc/ICRA16_submission.pdf):

Velas, M. Spanel, M. Herout, A.: Collar Line Segments for Fast Odometry Estimation from Velodyne Point Clouds, ICRA 2016

For demonstration, script scripts/demo.sh has been prepared. It requires internet connection (for obtaining data samples) and successfully built library. Demo aligns 5 data frames of Velodyne LiDAR and displays resulting 3D map.