Online Odometry and Mapping with Vision and Velodyne

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Paper references:
J. Zhang and S. Singh. Laser-visual-inertial Odometry and Mapping with High Robustness and Low Drift. Journal of Field Robotics. vol. 35, no. 8, pp. 1242-1264, 2018.
J. Zhang and S. Singh. Low-drift and Real-time Lidar Odometry and Mapping. Autonomous Robots. vol. 41, no. 2, pp. 401-416, 2017.
J. Zhang, M. Kaess and S. Singh. A Real-time Method for Depth Enhanced Visual Odometry. Autonomous Robots. vol. 41, no. 1, pp. 31-43, 2017.
Author's homepage:
frc.ri.cmu.edu...

Опубликовано:

11 сен 2024

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Комментарии : 15

@PhooGiSucky 9 лет назад

Almost got in an accident at 4:22 that would have been unfortunate. Very cool too, thanks for sharing.

@HimanshuGhadigaonkar 6 лет назад

Hi I know this is your project and all.. and you can’t share how to make the same. Can you please just tell what parts you used.. or what can one refer to start research in the same? I am aware of what LIDAR is and Aware of the Hector Slam but you are doing it in 3D.. which is awesome.

@Zephventures 9 лет назад

Unfortunately the code isn't available on ROS anymore... I was looking to toy with the Velodyne version(even maybe the V-LOAM package), is there a repo where it is available?

@JiZhang_CMU 9 лет назад

Frederick Ferre We cannot release the code due to commercial interests. Please try our website instead to generate 3D maps from Velodyne scanners. www.realearth.us/3d-model-generator.html

@mrdwolfe64 9 лет назад

Are you just using velodyne's VeloView to process the data or are you using some other software? also does your IMU have a GPS with it?

@JiZhang_CMU 9 лет назад

Derek Wolfe Everything runs on Robot Operating System (ROS) in Linux. No VeloView. No GPS attached to IMU.

@endeavoursilver6780 8 лет назад

can use in the mining ? for a project ,,, can convert or use the data with ACAD?

@martin.dimitrievski 9 лет назад

Hello Ji Zhang, can you tell me what is the maximum rotating frequency of the used lidar? M

@abdullaharslan1318 7 лет назад

20 hz, namely, 1200 RPM

@yunusegi7337 6 лет назад

How did you sync lidar data with IMU ?

@JiZhang_CMU 9 лет назад

Velodyne spins at 5-20Hz (to the following question).

@TheDmisky 5 лет назад

great work, but if you will put more information, describing what equipment you use, how you do, it would bring much more benefit, you would have subscribers on RU-vid channel became much more. And it turns out Nikola Tesla made many discoveries, but said nothing, in the end, all of his results and experiments did not bring any benefit, just disappeared.