A Modular Framework for LiDAR-based Lifelong Mapping

LT-mapper

News

What is LT-mapper?

  • A Modular Framework for LiDAR-based Lifelong Mapping

Why LT-mapper?

  • For LiDAR-based long-term mapping, three challenges exist.

Features

  • TBA

How to use?

Prerequisites

  • TBA

build

  • TBA

Tutorial and examples

0. Single-session Data Generation

  • Using the saver provided with SC-LIO-SAM (also in SC-A-LOAM or FAST_LIO_SLAM), a user should generate the set of sesssion data (i.e., keyframe point cloud scans, keyframe scan context descriptors (SCDs), and an initial pose-graph text file) for each session.

1. LT-SLAM

  • Tutorial video

  • command

        # change the paths in ltslam/config/params.yaml
    roslaunch ltslam run.launch

2. LT-removert

  • TBA

3. LT-map

  • TBA

LT-mapper ParkingLot dataset

Citation

@article{kim2021ltmapper,
  title={{LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping}},
  author={Kim, Giseop and Kim, Ayoung},
  journal={arXiv preprint arXiv:2107.07712},
  year={2021}
}

Contact

Release schedule

  • July 2021 A pre-print manuscript and initial version of LT-SLAM is released.
  • By Sep 2021 About LT-SLAM: Currently, we support 2-session alignment. N-session alignment will be supported.
  • By Dec 2021 LT-removert and LT-map modules will be released.

Acknowledgements

  • TBA
Owner
Giseop Kim
Ph.D student, KAIST
Giseop Kim
https://github.com/gisbi-kim/lt-mapper
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Comments
  • Questions about session_data generation

    Questions about session_data generation

    Hi, I found that the SC-PGO saver in FAST-LIO-SLAM will not save singlesession_posegraph.g2o and SCDs which are required by lt-mapper.

    So actually, we can only use SC-LIO-SLAM saver to generate session data right?

  • How would Lt-mapper work with a ground truth 3D map?

    How would Lt-mapper work with a ground truth 3D map?

    Hi @gisbi-kim,

    thank you for your awesome work, you really inspire me with all your cool open-source projects!

    I have rather more a conceptual question, but I think is very suitable for this repo, therefore I am creating this issue.

    If I understand correctly LT-Mapper works based on the assumption that you have several multi-session data which are then aligned together, without considering any ground truth map.

    What happens if you do have a ground truth map, e.g. from an accurate TLS scanner. With only a 3D point cloud as a reference can one still leverage LT-Mapper to align the multi-session data in a globally consistent map?

    I think this is only possible if we have session data generation from the 3D ground truth map (which, I think, would increase the size of the ground truth data), am I right?

  • Question about pose

    Question about pose

    Hello author, Thank you for sharing your great work. I want to know why the pose here is to (0,0,0) https://github.com/gisbi-kim/lt-mapper/blob/784f63eae8402659c5050ddaebd1e44e9c6c144c/ltslam/src/LTslam.cpp#L239 but the pose for RS loop is different https://github.com/gisbi-kim/lt-mapper/blob/784f63eae8402659c5050ddaebd1e44e9c6c144c/ltslam/src/LTslam.cpp#L298

  • When will the repo be completed?

    When will the repo be completed?

    I'm sorry to bother you ,but I can't run the code without commands, when will you upload running commands and the refactored code? Recently, I've been checking every day to see if you've updated. :)

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