Giter VIP home page Giter VIP logo

wildcat-slam's Introduction

Wildcat SLAM

This is an unofficial demonstrative implentation of Wildcat SLAM which is described in the following paper:

@article{ramezani2022wildcat,
  title={Wildcat: Online continuous-time 3d lidar-inertial slam},
  author={Ramezani, Milad and Khosoussi, Kasra and Catt, Gavin and Moghadam, Peyman and Williams, Jason and Borges, Paulo and Pauling, Fred and Kottege, Navinda},
  journal={arXiv preprint arXiv:2205.12595},
  year={2022}
}

pic1 pic2

1. Prerequisites

1.1 Ubuntu and ROS

Recommend: Ubuntu 20.04 and ROS Noetic.

1.2. Dependencies

Ceres Solver

sudo apt install libceres-dev

PCL

sudo apt install libpcl-dev

fmt

sudo apt install libfmt-dev

libbenchmark-dev

sudo apt install libbenchmark-dev

protobuf

sudo apt install protobuf-compiler

2. Build Wildcat SLAM

Clone the repository and catkin_make.

3. License

GPLv3.

wildcat-slam's People

Contributors

kekeliu-whu avatar

Stargazers

avatar avatar avatar avatar ็„ถ avatar avatar avatar Fido avatar

Watchers

avatar avatar

Forkers

liuxinren456852 shenhm516

wildcat-slam's Issues

problem when test hilti 2022

Thanks for ur generous opensource. When I test exp07_long_corridor.bag in hilti 2022 dataset on [https://hilti-challenge.com/dataset-2022.html], I find that it runs very slow and cannot catch up with the play of rosbag. And even worse that the result on rviz do not move, could you kindly offer a help for it ?

about pose predict function

Thank you for your work first, I m curious that PredictPoseOfNewImuState function in lidar_odometry.cpp. i3.pos = (i1.rot * (i1.acc - ba) + grav) * dt * dt + 2 * i2.pos - i1.pos; why did you predict position in such a way? looking forward for your reply.

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    ๐Ÿ–– Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. ๐Ÿ“Š๐Ÿ“ˆ๐ŸŽ‰

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google โค๏ธ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.