Intensity-SLAM

Intensity-Assisted Simultaneous Localization And Mapping

This is an implementation of paper "Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment" paper

Wang Han, Nanyang Technological University, Singapore

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 20.04.

ROS Noetic. ROS Installation

1.2. Ceres Solver

Follow Ceres Installation.

1.3. PCL

Follow PCL Installation.

1.4. Trajectory visualization

For visualization purpose, this package uses hector trajectory sever, you may install the package by

sudo apt-get install ros-noetic-hector-trajectory-server

Alternatively, you may remove the hector trajectory server node if trajectory visualization is not needed

2. Build

2.1 Clone repository:

    cd ~/catkin_ws/src
    git clone https://github.com/wh200720041/intensity_slam.git
    cd ..
    catkin_make
    source ~/catkin_ws/devel/setup.bash

2.2 Download test rosbag

Download KITTI sequence 05 or KITTI sequence 07

Unzip compressed file 2011_09_30_0018.zip. If your system does not have unzip. please install unzip by

sudo apt-get install unzip 

And this may take a few minutes to unzip the file

	cd ~/Downloads
	unzip ~/Downloads/2011_09_30_0018.zip

3.3 Launch ROS

    roslaunch intensity_slam intensity_slam.launch

4.Acknowledgements

Thanks for A-LOAM and LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time) and LOAM_NOTED.

5. Citation

If you use this work for your research, you may want to cite

@article{wang2021intensity,
  author={H. {Wang} and C. {Wang} and L. {Xie}},
  journal={IEEE Robotics and Automation Letters}, 
  title={Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment}, 
  year={2021},
  volume={6},
  number={2},
  pages={1715-1721},
  doi={10.1109/LRA.2021.3059567}
}