- SC-PD-LOAM is Probability Distribution based LOAM and Pose Graph Optimization method.
- Scan matching is performed using probability distributions of edge and planar points.
- Loop detection for pose graph optimization is performed using scan-context.
- Cmake
- PCL-1.8
- Eigen3
- GTSAM
- Ceres-solver
- jsk-rviz-plugins (optional)
$ cd ~/YOUR_WORKSPACE/src/
$ git clone https://github.com/Kimkyuwon/SC-PD-LOAM
$ cd ..
$ catkin_make
$ source ~/YOUR_WORKSPACE/devel/setup.bash
If you have any questions, contact here please