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Fast-Lio
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Cris.Wei 2020-11-01 13:33:01 +08:00 committed by GitHub
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@ -76,8 +76,14 @@ Download [avia_indoor_quick_shake_example1](https://drive.google.com/file/d/1SWm
roslaunch fast_lio mapping_avia.launch
rosbag play YOUR_DOWNLOADED.bag
```
### 4.2 High-rate rosbag (Livox Avia LiDAR with 100Hz frame-rate)
### 4.2 Outdoor rosbag (Livox Avia LiDAR)
Download [high_rate_avia](https://drive.google.com/file/d/1UM6O3PRN3b730ZeuvKKT3yuOLNQuz8Yf/view?usp=sharing) and then
```
roslaunch fast_lio mapping_avia.launch
rosbag play YOUR_DOWNLOADED.bag
```
### 4.3 Outdoor rosbag (Livox Avia LiDAR)
<div align="center"><img src="doc/results/HKU_MB_002.png" width=100% /></div>
@ -89,13 +95,5 @@ roslaunch fast_lio mapping_avia_outdoor.launch
rosbag play YOUR_DOWNLOADED.bag
```
### 4.3 High-rate rosbag (Livox Avia LiDAR with 100Hz frame-rate)
Download [high_rate_avia](https://drive.google.com/file/d/1UM6O3PRN3b730ZeuvKKT3yuOLNQuz8Yf/view?usp=sharing) and then
```
roslaunch fast_lio mapping_avia.launch
rosbag play YOUR_DOWNLOADED.bag
```
## 5.Acknowledgments
Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), [Livox_Mapping](https://github.com/Livox-SDK/livox_mapping) and [Loam_Livox](https://github.com/hku-mars/loam_livox).