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Laser slam learning record
2022-07-05 23:45:00 【High flying birds with tanks】
Catalog
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
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
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
End
Any errors , Please correct me
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