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Fast-Lio
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Cris.Wei 2021-01-18 12:03:29 +08:00 committed by GitHub
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@ -5,6 +5,8 @@
3. Parallel KD-Tree Search to decrease the computation; 3. Parallel KD-Tree Search to decrease the computation;
4. Robust feature extraction; 4. Robust feature extraction;
It should be noted current version of FAST-LIO does not support Velodyne LiDAR, we may support them in the future.
**Developers** **Developers**
[Wei Xu 徐威](https://github.com/XW-HKU): Laser mapping and pose optimization; [Wei Xu 徐威](https://github.com/XW-HKU): Laser mapping and pose optimization;
@ -52,7 +54,7 @@ Clone the repository and catkin_make:
source devel/setup.bash source devel/setup.bash
``` ```
## 3. Directly run ## 3. Directly run
### 3.1 For indoor environments and high frame-rate (maximum 100hz) ### 3.1 For indoor environments (support maximum 50hz frame rate)
Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then Connect to your PC to Livox Avia LiDAR by following [Livox-ros-driver installation](https://github.com/Livox-SDK/livox_ros_driver), then
``` ```
.... ....
@ -81,14 +83,7 @@ Download [avia_indoor_quick_shake_example1](https://drive.google.com/file/d/1SWm
roslaunch fast_lio mapping_avia.launch roslaunch fast_lio mapping_avia.launch
rosbag play YOUR_DOWNLOADED.bag 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> <div align="center"><img src="doc/results/HKU_MB_002.png" width=100% /></div>