lidar_slam_3d
Details
lidar_slam_3d is a ROS package for real-time 3D slam. It is based on NDT registration algorithm. With loop detection and back-end optimization, a map with global consistency can be generated.
Example
An example map build by vlp-16.
Requirements
- pcl
- g2o
Build
cd ${catkin_workspace}/src
git clone https://github.com/ningwang1028/lidar_slam_3d.git
cd ..
catkin_make
Run
roslaunch lidar_slam_3d lidar_slam_3d.launch