1. Intro
Review Lidar based SLAM algorithm and libraries
Some of the popular lib:
- LOAM
- LEGO LOAM
- LIO SAM
2. LOAM
Year: 2014
Lidar Odometry and Mapping
- Scan Matching
- Odometry
- Fast and efficient
Con:
- Require careful parameter tuning
3. LEGO LOAM
Year: 2018
Lightweight and Ground-Optimized Lidar Odometry and Mapping
- Use line and point feature extraction to increase the robustness
- More robust to sensor noise and calibration error
4. LIO SAM
Year: 2018
Lidar Inertial Odometry and Mapping via Smoothing and Mapping
- Tightly couple with inertial sensor
- Fuse sensor to estimate
- Computation Intensive
5. LOCUS
6. Ref
Evaluation and comparison of 3D lidar based SLAM algorithms
7. Question
- 从一个开源项目到实际部署到机器人的过程中，有哪些要注意的地方
- 大概需要怎样的性能
室内场景更加复杂
仓储机器人
激光雷达，传感器融合，
IMU: Bosch, ADA