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README.md

Oh-My-LOAM

Oh-My-LOAM is a ROS-free implementation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time). This implementation is modified from A-LOAM.

Comparing with A-LOAM, this implementation has following features:

  • it's ROS-free
  • it's more readable and easier to understand/modify

Dependences

  • Eigen: linear algebra, quaternion
  • pcl: point cloud processing
  • g3log: logging
  • yaml-cpp: yaml parsing
  • ceres: non-linear optimization
  • c++17