XXVIII - 3D point cloud real-time and offline generation of 2D grid and 3D grid map

Summary of previous articles ：

  Multi-sensor fusion SLAM part ：

Open source framework testing

One ：Tixiao Shan The latest masterpiece LVI-SAM(Lio-SAM+Vins-Mono), Vision based - laser - Of inertial navigation odometer SLAM frame , Environment construction and running through process _goldqiu The blog of -CSDN Blog

Two . laser SLAM Frame learning is A-LOAM frame --- Introduction and demonstration _goldqiu The blog of -CSDN Blog

8、 ... and . laser SLAM Frame learning is LeGO-LOAM frame --- Framework introduction and running demonstration _goldqiu The blog of -CSDN Blog

11、 ... and . Laser inertial navigation LIO-SLAM Frame learning is LIO-SAM frame --- Framework introduction and running demonstration _goldqiu The blog of -CSDN Blog

Twelve . laser SLAM Frame learning is livox-loam Frame installation and running data set _goldqiu The blog of -CSDN Blog

Twenty-two . University of Hong Kong Mars laboratory R3LIVE The framework runs the official data set _goldqiu The blog of -CSDN Blog

Twenty-four - University of Hong Kong Mars laboratory FAST-LIO2 The framework runs the official data set _goldqiu The blog of -CSDN Blog

twenty-seven -VIO-SLAM Open source framework Vin-mono run EuRoC Data sets _goldqiu The blog of -CSDN Blog

Real car test

7、 ... and . laser SLAM Frame learning is A-LOAM frame --- Soar team Robosense-16 Indoor construction drawing of line radar _goldqiu The blog of -CSDN Blog

Nine . laser SLAM Frame learning is LeGO-LOAM frame --- Soar team Robosense-16 Comparison between outdoor construction drawing of line radar and other frames 、 Record package and save data _goldqiu The blog of -CSDN Blog

13、 ... and . laser SLAM Frame learning is livox-Mid-70 Radar use and real-time outdoor running frame _goldqiu The blog of -CSDN Blog

sixteen . Laser and inertial navigation LIO-SLAM Frame learning is configured with self-use sensors for real-time outdoor running LIO-SAM frame _goldqiu The blog of -CSDN Blog

eighteen . Multiple SLAM frame （A-LOAM、Lego-loam、LIO-SAM、livox-loam） Rough comparative analysis of outdoor test results _goldqiu The blog of -CSDN Blog

hexacosa- - University of Hong Kong Mars laboratory FAST-LIO2 The frame runs from the recorded data set （Mid-70 and SBG-Ellipse-N Inertial navigation ）_goldqiu The blog of -CSDN Blog

calibration

fourteen . Laser and inertial navigation LIO-SLAM Inertial navigation internal parameter calibration of frame learning _goldqiu The blog of -CSDN Blog

15、 ... and . Laser and inertial navigation LIO-SLAM Inertial navigation and radar external parameter calibration based on frame learning （1）_goldqiu The blog of -CSDN Blog

twenty . laser 、 Vision and inertial navigation LVIO-SLAM Camera internal parameter calibration for frame learning _goldqiu The blog of -CSDN Blog

The 21st . laser 、 Vision and inertial navigation LVIO-SLAM Camera and radar external parameter calibration for frame learning （1）_goldqiu The blog of -CSDN Blog

Open source framework learning

3、 ... and . laser SLAM Frame learning is A-LOAM frame --- Introduction to project code ---1. Introduction to project documents （ In addition to the main source code ）_goldqiu The blog of -CSDN Blog

Four . laser SLAM Frame learning is A-LOAM frame --- Introduction to project code ---2.scanRegistration.cpp-- Front end radar processing and feature extraction _goldqiu The blog of -CSDN Blog

5、 ... and . laser SLAM Frame learning is A-LOAM frame --- Introduction to project code ---3.laserOdometry.cpp-- Front end radar odometer and coarse pose estimation _goldqiu The blog of -CSDN Blog

6、 ... and . laser SLAM Frame learning is A-LOAM frame --- Introduction to project code ---4.laserMapping.cpp-- Back end mapping and precise frame pose estimation （ Optimize ）_goldqiu The blog of -CSDN Blog

Ten . laser SLAM Frame learning is LeGO-LOAM frame --- Algorithm principle and improvement 、 Project engineering code _goldqiu The blog of -CSDN Blog

seventeen . Laser and inertial navigation LIO-SLAM Frame learning is IMU and IMU Preintegration _goldqiu The blog of -CSDN Blog

nineteen . Laser and inertial navigation LIO-SLAM Introduction to the project engineering code of framework learning --- Code framework and some file explanations _goldqiu The blog of -CSDN Blog

23 . Laser and inertial navigation LIO-SLAM Frame learning is LIO-SAM Introduction to project code --- Basic knowledge of _goldqiu The blog of -CSDN Blog

From this blog to Localization、Navigation Part of it

twenty-five .SLAM in Mapping and Localization Difference and thinking

Planning

One . Path planning --- Two dimensional path planning simulation implementation -gmapping+amcl+map_server+move_base_goldqiu The blog of -CSDN Blog

Two . Path planning --- Two dimensional path planning is realized by real vehicle ---gmapping+amcl+map_server+move_base_goldqiu The blog of -CSDN Blog

Global Localization

One . Global positioning -- Open source positioning framework LIO-SAM_based_relocalization Real data set test _goldqiu The blog of -CSDN Blog

Two . Global positioning -- Open source positioning framework livox-relocalization Real data set test _goldqiu The blog of -CSDN Blog _livox Data sets

3、 ... and . Global positioning --LIO-SAM stay RTK Mapping and positioning under global constraints （1）_goldqiu The blog of -CSDN Blog

On the subject ：

First github：

https://github.com/goldqiu/Map_Conversion

effect ：

Real time 3D point cloud rasterization _ Bili, Bili _bilibili

Code engineering ：