ctlo

CTLO: Continuous-Time LiDAR Odometry

CTLO (Continuous-Time LiDAR Odometry) is an accurate and robust LiDAR odometry (LO).

• Video-Bilibili

NOTE: Click on the image to view the corresponding video.

Some test results are show below:

LIVOX-horizon, 2-layer, degeneration

MID-360, multi-layer

AVIA, long corridor

velodyne32, urbanNavDataset

MID-360

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu >= 18.04

For Ubuntu 18.04 or higher, the default PCL and Eigen is enough for ct_lio to work normally.

ROS >= Melodic. ROS Installation

1.2. PCL && Eigen

PCL >= 1.8, Follow PCL Installation.

Eigen >= 3.3.4, Follow Eigen Installation.

2. Build

Clone the repository and catkin_make:

NOTE:[This is import] before catkin_make, make sure your dependency is right(you can change in ./cmake/packages.cmake)

    cd ~/$A_ROS_DIR$/src
    git clone https://github.com/chengwei0427/CTLO.git
    cd CTLO
    cd ../..
    catkin_make
    source devel/setup.bash

• If you want to use a custom build of PCL, add the following line to ~/.bashrc export PCL_ROOT={CUSTOM_PCL_PATH}

3. Directly run

Noted:

A. Please make sure the Lidar has 'time'

4. Rosbag Example

Mid-360 testdata can be downloaded from Baidu Pan(password:a6u3)

Related Works

1. ct_icp: Continuous-Time LiDAR Odometry .
2. ct_lio: Continuous-Time Lidar-Inertial Odometry.