Laser slam learning record

Write it at the front

1、 The content of this article is
laser slam Learning and problem records

2、 platform
ubuntu 1804, ros
3、 Reprint please indicate the source ：
https://blog.csdn.net/qq_41102371/article/details/125271212

Information

Source code

loam
https://github.com/HKUST-Aerial-Robotics/A-LOAM

lego_loam
https://github.com/RobustFieldAutonomyLab/LeGO-LOAM

livox_loam
https://github.com/hku-mars/loam_livox

ekf_loam
https://github.com/ITVRoC/ekf_loam

Representative laser SLAM Algorithm paper and open source code summary
https://zhuanlan.zhihu.com/p/424638140

2021 SLAM Summary of conference papers
https://zhuanlan.zhihu.com/p/439932294

loam:

Twelve . laser SLAM Frame learning is livox-loam Frame installation and running data set https://zhuanlan.zhihu.com/p/432520314
eighteen . Multiple SLAM frame （A-LOAM、Lego-loam、LIO-SAM、livox-loam） Rough comparative analysis of outdoor test results https://zhuanlan.zhihu.com/p/441386977
Multi-sensor fusion SLAM、 Navigation research and learning https://www.zhihu.com/column/c_1372631607124353024

orb-slam and orb-slam2
http://webdiis.unizar.es/~raulmur/orbslam/

SLAM The road of Algorithm Engineer ：A-LOAM Thesis study and framework algorithm learning https://zhuanlan.zhihu.com/p/431082432
Considering the depth of algorithm principle in each framework 、 Module architecture 、 The difficulty of debugging , The author believes that the most suitable algorithm for basic learning and recording is A-LOAM. Learning and understanding A-LOAM After a better grasp , It is more appropriate to go back to other frameworks ( Here is a suggested learning sequence ：A-LOAM-> LOAM -> LEGO-LOAM -> LIO-SAM-> LVI-SAM).A-LOAM By Ji Zhang Doctor in thesis 《Lidar Odometry and Mapping in Real-time》[1] Proposed in , Use laser radar to efficiently complete its own positioning and three-dimensional mapping in space .

vscode The debug ROS project , Node debugging , Multi node debugging ,roslauch debugging
https://zhuanlan.zhihu.com/p/364972107

【ROS】 stay VScode in ROS Debug The configuration method is very detailed https://blog.csdn.net/qq_39537898/article/details/124904363

vscode utilize cmake debugging https://blog.csdn.net/code_segment/article/details/81151443

Kalman filtering

FAST-LIO Paper knowledge supplement — Kalman filtering https://zhuanlan.zhihu.com/p/485454339
Explain the principle of Kalman filter in detail https://blog.csdn.net/u010720661/article/details/63253509

problem

livox_loam

Run based on MID-40 Radar LOAM_LIVOX The whole process of the algorithm https://blog.csdn.net/weixin_48083022/article/details/119043406

need pcl1.9 Above version
https://blog.csdn.net/weixin_48083022/article/details/119043406

Ubuntu18.04 install PCL（ Detailed tutorial ） https://www.guyuehome.com/10039
Ubuntu18.04 install PCL 1.9.1( Graphic, , With step pits and tests ) https://blog.csdn.net/qq_42257666/article/details/124574029
compile pcl We have problems ：
/usr/lib/x86_64-linux-gnu/libSM.so： Yes ‘[email protected]_1.0’ Undefined references
solve ：
hold anaconda3/lib Inside libuuid.xxx Move the file to another place first
https://www.codeleading.com/article/14915214739/
https://www.jianshu.com/p/459d4242b3d0

Reference resources

Listed in the text

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