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Use LiDAR to map the static world
| Date | Stars |
|---|---|
| 2026-07-24 | 345 |
| 2026-07-25 | 345 |
| 2026-07-28 | 345 |
| 2026-07-30 | 345 |
| 2026-08-06 | 345 |
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<img src="doc/logo.png" /> [](https://zenodo.org/badge/latestdoi/201018520) [](https://996.icu/#/en_US) [](https://github.com/996icu/996.ICU/blob/master/LICENSE) [](https://join.slack.com/t/996icu/shared_invite/enQtNjI0MjEzMTUxNDI0LTkyMGViNmJiZjYwOWVlNzQ3NmQ4NTQyMDRiZTNmOWFkMzYxZWNmZGI0NDA4MWIwOGVhOThhMzc3NGQyMDBhZDc) [中文文档](README.Chinese.md) # Introduction Static Mapping is a full lidar slam system using lidar (required) and gps (optional), imu (optional), odom (optional). More detail about the inner process refer to [flow figure](doc/mapping.png). # Map with kitti dataset <img src="doc/kitti_rgb.png" width="800" /> More evalution on kitti datasets : [kitti_evaluation](doc/kitti_evaluation.md) # Indoor mapping example (garage) <img src="doc/garage.png" width="800" /> # Build > For now, It is recommended to build this repo in your host device but not in docker, due to that the docker image is not enough tested. ## Using host device ### Requirements > Ros should be installed in the first place, You can refer to [http://wiki.ros.org/kinetic/Installation/Ubuntu](http://wiki.ros.org/kinetic/Installation/Ubuntu) for more information for installing ROS kinetic or higher version. This repo has been tested in kinetic and melodic. ```bash ## basic depencencies sudo apt -y install cmake \ libboost-dev \ libeigen3-dev \ libpng-dev \ libgoogle-glog-dev \ libatlas-base-dev \ libsuitesparse-dev \ imagemagick \ libtbb-dev ## install pcl ## tested in pcl-1.7 (ubuntu16.04) and pcl-1.8 (ubuntu18.04) sudo apt -y install libpcl-dev cd your_own_workspace ## like /home/user/3rd_parties ## or you can just go to "third_parties" in this repo ## GeoGraphic ./path_of_StaticMapping/setup/install_geographiclib.sh ## GTSAM(4.0 or higher is needed) ./path_of_StaticMapping/setup/install_gtsam.sh ## libnabo ./path_of_StaticMapping/setup/install_libnabo.sh ## libpointmatcher ./path_of_StaticMapping/setup/install_libpointmatcher.sh ``` ### Optional libs - **CUDA**: We have made some attempts in fasting the kdtree in ICP by creating the kdtree on GPU, but the GPU Kdtree is not fast enough(just 1.5~2 times faster than libnabo). Notice that if you use CUDA, your g++ version should be lower than 6.0 because the nvcc does not support the 6.0 or high version g++. - **cuda_utils**: ### compiling ```bash mkdir build && cd build cmake -DENABLE_TEST=ON .. make -j8 make check # optional, only if you want to check the code with unit tests. ``` ## Or Using Docker If yours host device is with UBUNTU 18.04, it is highly recommended to build and run this project in a docker because the docker is `FROM ros:melodic-ros-core-bionic`. Otherwise, you can also build your envrionment directly on your device refering to **Using host device** section below. ps: there is something wrong with ros message sent from ros-kinetic to ros-melodic, so, it your host deice is not with Ubuntu 18.04, you can not use this docker, and the docker for ros-kinetic will come soon. ### Get docker image ```bash ## If your host device in with ubuntu 18.04, then the docker with tag `bionic` is prefered docker pull edwardliuyc/static_mapping:bionic ## If your host device in with ubuntu 20.04, then the docker with tag `focal` is prefered docker pull edwardliuyc/static_mapping:focal ``` ### Build in docker In this part we use `edwardliuyc/static_mapping:bionic` as an example, you can use `edwardliuyc/static_mapping:focal` instead. ```bash ## get code git clone https://github.com/EdwardLiuyc/StaticMapping.git cd StaticMapping ## start the docker container docker run -it --rm -v /mnt:/mnt -v pwd:/home/docker/src/StaticMapping edwardliuyc/static_mapping:bionic /bin/bash ##
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Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:971a328faf9aa04a, topic:slam, readme:slam