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Interactive Map Correction for 3D Graph SLAM
| Date | Stars |
|---|---|
| 2026-07-24 | 965 |
| 2026-07-25 | 965 |
| 2026-07-28 | 965 |
| 2026-07-30 | 965 |
| 2026-08-06 | 965 |
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# New SLAM Package Released We released [a new SLAM package GLIM](https://github.com/koide3/glim) that has [interactive map correction features](https://koide3.github.io/glim/quickstart.html#mapping-result). # interactive_slam ***interactive_slam*** is an open source 3D LIDAR-based mapping framework. In contrast to existing automatic SLAM packages, we aim to develop a semi-automatic framework which allows the user to interactively and intuitively correct mapping failures (e.g., corrupted odometry, wrong loop detection, distorted map, etc) with minimal human effort. This framework provides several map correction features: - [Manual & Automatic] Loop closing - [Manual] Plane-based map correction - [Manual] Multiple map merging - [Automatic] Pose edge refinement  [[video]](https://youtu.be/vAqo6YkbKpU) This package is built on top of the ROS ecosystem. You can start building a map with a pose graph constructed by [hdl_graph_slam](https://github.com/koide3/hdl_graph_slam) or a customized [LeGO-LOAM](https://github.com/koide3/LeGO-LOAM-BOR), or odometry data generated by any ROS package. This package has been tested on Ubuntu 18.04 & ROS melodic or later. [](https://github.com/SMRT-AIST/interactive_slam/actions/workflows/build.yml) ## Installation ***interactive_slam*** depends on the following libraries: - [GL3W](https://github.com/skaslev/gl3w) - [GLFW](https://www.glfw.org/) - [Dear ImGui](https://github.com/ocornut/imgui) - [portable-file-dialog](portable-file-dialog) - [OpenMP](https://www.openmp.org/) - [PCL](https://pointclouds.org/) - [g2o](https://github.com/RainerKuemmerle/g2o) ```bash # for ROS noetic sudo apt-get install libglm-dev libglfw3-dev sudo apt-get install libsuitesparse-dev libeigen3-dev sudo apt-get install ros-noetic-geodesy ros-noetic-pcl-ros ros-noetic-nmea-msgs ``` ```bash # Install g2o from original source code git clone https://github.com/RainerKuemmerle/g2o.git cd g2o mkdir build cd build cmake ../ make sudo make install ``` ```bash # Install Ceres Library git clone https://ceres-solver.googlesource.com/ceres-solver # Install all dependencies # CMake sudo apt-get install cmake # google-glog + gflags sudo apt-get install libgoogle-glog-dev libgflags-dev # Use ATLAS for BLAS & LAPACK sudo apt-get install libatlas-base-dev # Eigen3 sudo apt-get install libeigen3-dev # SuiteSparse (optional) sudo apt-get install libsuitesparse-dev cd ceres-solver mkdir build cd build cmake ../ make sudo make install ``` ```bash cd ~/catkin_ws/src git clone https://github.com/koide3/ndt_omp # on melodic # git clone https://github.com/koide3/ndt_omp -b melodic git clone https://github.com/koide3/hdl_graph_slam git clone https://github.com/koide3/odometry_saver git clone https://github.com/SMRT-AIST/fast_gicp --recursive git clone https://github.com/SMRT-AIST/interactive_slam --recursive cd ~/catkin_ws catkin_make -DCMAKE_BUILD_TYPE=Release ``` ***ROS Kinetic users*** This package cannot be built using gcc and ld on Ubuntu 16. If you are on Ubuntu 16 and ROS kinetic, try the LLVM toolchain. Note: we recommend to use this package on melodic because we do only build-test but not run-test on kinetic. ```bash sudo apt install clang-6.0 lld-6.0 sudo update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld-6.0 50 sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-6.0 50 sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-6.0 50 cd ~/catkin_ws && rm -rf build devel # be aware of that this command removes build and devel directories CC=clang CXX=clang++ catkin_make -DCMAKE_BUILD_TYPE=Release ``` ## Examples ### Example1 - Basic usage with hdl_graph_slam In this example, we edit a map (pose graph) constructed by [hdl
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:730e9f1cf1a34227, topic:ros, topic:slam, name:slam