Sensrad • Contact Us
Vegvisir is a SLAM and Localization system for 3D LiDARs and 4D Imaging RADARs.
Vegvisir operates in two modes via a pluggable backend architecture:
- SLAM - incremental map building with pose graph optimization and loop closure detection.
- Localization - querying against prebuilt maps with Kalman filter pose refinement.
The C++ core provides Python bindings via pybind11 and a ROS2 node interface.
Vegvisir requires an external odometry estimate. The level of integration depends on your sensor modality:
- LiDAR - The ROS2 wrapper integrates KISS-ICP as a built-in odometry source.
- RADAR - An external odometry source must be provided. This can be provided by Sensrad with the Oden perception software which estimates odometry using the Hugin D1 4D Imaging Radar.
For commercial inquiries, contact Sensrad at sales@sensrad.com.
| Interface | Instructions |
|---|---|
| C++ library | cpp/README.md |
| Python package | python/README.md |
| ROS2 nodes | ros2/README.md |
This project is inspired by and initially based on KISS-SLAM. Please cite their work in your research.
We welcome contributions. Please open a Pull Request to get started.