Lidar with Velocity
A robust camera and Lidar fusion based velocity estimator to undistort the pointcloud.
This repository is a barebones implementation for our paper Lidar with Velocity : Motion Distortion Correction of Point Clouds fromOscillating Scanning Lidars . It's a fusion based method to handle the oscillating scan Lidar points distortion problem, and can also provide a accurate velocity of the objects.
Ubuntu and ROS. Tested on Ubuntu 18.04. ROS Melodic
Ceres Solver 1.14.0
2. Build on ROS
Clone the repository and catkin_make:
cd ~/catkin_ws/src git clone https://github.com/ISEE-Technology/lidar-with-velocity cd ../ catkin_make source ~/catkin_ws/devel/setup.bash
3. Directly run
First download the dataset and extract in /catkin_ws/ path.
replace the "DATASET_PATH" in config/config.yaml with your extracted dataset path, example: (notice the "/")
Then follow the commands blow :
roscore rviz -d src/lidar-with-velocity/rviz_cfg/vis.rviz rosrun lidar-with-velocity main_ros
there will be a Rviz window and a PCL Viewer window to show the results, press key "space" in the PCL Viewer window to process the next frame.