An improvement of FasterGICP: Acceptance-rejection Sampling based 3D Lidar Odometry

Related tags

Deep Learning fasterGICP
Overview

fasterGICP

This package is an improvement of fast_gicp

Please cite our paper if possible.

W. Jikai, M. Xu, F. Farzin, D. Dai and Z. Chen, "FasterGICP: Acceptance-rejection Sampling based 3D Lidar Odometry," in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2021.3124072.

Installation

Dependencies

We have tested this package on Ubuntu 18.04/20.04 and CUDA 11.1.

CUDA

To enable the CUDA-powered implementations, set BUILD_VGICP_CUDA cmake option to ON.

Non-ROS

git clone https://github.com/SMRT-AIST/fast_gicp --recursive
mkdir fast_gicp/build && cd fast_gicp/build
cmake .. -DCMAKE_BUILD_TYPE=Release
# enable cuda-based implementations
# cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON
make -j8

Test on KITTI

C++

cd fasterGICP/build
# reading program parameters from fasterGICP/include/settings.txt 
./gicp_kitti

Related packages

Papers

Contact

Comments
  • Hi, may I ask how to install your project?

    Hi, may I ask how to install your project?

    Your installation step:

    git clone https://github.com/SMRT-AIST/fast_gicp --recursive mkdir fast_gicp/build && cd fast_gicp/build cmake .. -DCMAKE_BUILD_TYPE=Release

    enable cuda-based implementations

    cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON

    make -j8

    seems not match this project. The projected used is fast_gicp;

    opened by yuhui-xie 1
  • Method of evaluation

    Method of evaluation

    您好@SLAMWang ，请问您论文里面的误差评估是采用什么方法，比如： 2022-12-15 14-26-50 的屏幕截图 2022-12-13 14-49-07 的屏幕截图 请问是用这个kitti误差评估的方法吗，A. Geiger, P. Lenz, andR. Urtasun, “Are we ready for autonomous driving?the kitti vision benchmark suite,” in Proc. IEEEConf. Comput. Vis. PatternRecognit., 2012, pp. 3354–3361.

    opened by lidawenwenwen 4
  • Save point cloud

    Save point cloud

    Hello! I am a student learning about SLAM. Thank you for sharing such a wonderful tool. I want to add pcl::io::savePCDFile( "cloud.pcd", *map, true ); to mapping thread to save point clouds, but I can't find where it is. If you don`t mind, may I ask where I should add the code?? I hope to hear you soon!!

    P.S. I`m not familiar with GitHub (and English) yet, so sorry if my way using "Issues" were wrong.

    opened by quanfanquanfan 2
  • RGBD camera pointcloud registration

    RGBD camera pointcloud registration

    Hi, thanks for your great work. Is fasterGICP suitable for pointcloud from RGBD camera? I have tried your algorithm to registrate pointcloud generated from RGBD camera, but the result is not satisfactory. Could you give me some suggestions to improve the performance in RGBD camera's pointcloud? thank you.

    opened by stephen9999999 2
  • Performance on the kitti test set

    Performance on the kitti test set

    你好@SLAMWang. 非常感谢你有趣的工作！看到你的论文，被你方法精度惊艳到了，论文中报告的KITTI训练集精度接近0.2%的ATE，而目前SOTA大概只有0.45%左右，可以说有了极大地提升。不知道你的方法在KITTI测试集的精度如何？为什么没有在测试集上传结果呢，感觉很有希望排到榜首位置。另外，我按照你的readme操作，并没有成功运行KITTI数据集测试，不知道哪里出了问题？非常感谢，期待你的回复

    opened by LJY-RS 7
  • Could you give a simple explanation for the setting value?

    Could you give a simple explanation for the setting value?

    Hi, @SLAMWang. Thanks for your great work. I find it may be useful for our project. But could you give a simple explanation for the setting value?

    1. I think the modification is done on fast_gicp.hpp and fast_gicp_impl.hpp. (correct me if I was wrong)
    2. I think a example for kitti is below: https://github.com/SLAMWang/fasterGICP/blob/756ec2473248f6b29071d4e01ec1f7a7c5cd48ad/src/kitti.cpp#L151 but I am a little confuse about the setting value here (I think these values are related to the two-fold filter, pls update some comments to help us): https://github.com/SLAMWang/fasterGICP/blob/756ec2473248f6b29071d4e01ec1f7a7c5cd48ad/include/fast_gicp/gicp/fast_gicp.hpp#L42
    3. Another thing is confused me : what is the [imageProjection.cpp],[featureAssociation.cpp] for ?
    opened by cdb0y511 7
  • Can it read the topic of rosbag in LEGO-LOAM or LIO-SAM?

    Can it read the topic of rosbag in LEGO-LOAM or LIO-SAM?

    I found that this code reading point cloud reads every. bin, so can it read the topic of rosbag? Can it be used in LEGO-LOAM or LIO-SAM? Can I ask you if it's convenient? my QQ is 1501182998

    opened by hellopopyee 4
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