What is SC-PD-LOAM?

• SC-PD-LOAM is Probability Distribution based LOAM and Pose Graph Optimization method.
• Scan matching is performed using probability distributions of edge and planar points.
• Loop detection for pose graph optimization is performed using scan-context.

Requirements

• Cmake
• PCL-1.8
• Eigen3
• GTSAM
• Ceres-solver
• jsk-rviz-plugins (optional)

How to build

$ cd ~/YOUR_WORKSPACE/src/
$ git clone https://github.com/Kimkyuwon/SC-PD-LOAM
$ cd ..
$ catkin_make
$ source ~/YOUR_WORKSPACE/devel/setup.bash

Contact

If you have any questions, contact here please

kkw1125@konkuk.ac.kr