Awesome
Light-LOAM
News: Our paper has been accepted by the RA-L journal! This is the implementation for the Paper ``Light-LOAM: A Lightweight LiDAR Odometry and Mapping based on Graph-Matching''. This code is modified from A-LOAM.
Requirements
- PCL 1.10
- ROS
- Ceres 1.14.x
Introduction
This is the beta version, and the final implementation code is coming soon. The research paper Light-LOAM: A Lightweight LiDAR Odometry and Mapping based on Graph-Matching is now availble on arXiv.
Citation
If you take pieces from our system in your research, please consider citing the paper:
@ARTICLE{10439642,
author={Yi, Shiquan and Lyu, Yang and Hua, Lin and Pan, Quan and Zhao, Chunhui},
journal={IEEE Robotics and Automation Letters},
title={Light-LOAM: A Lightweight LiDAR Odometry and Mapping Based on Graph-Matching},
year={2024},
volume={9},
number={4},
pages={3219-3226},
keywords={Simultaneous localization and mapping;Feature extraction;Point cloud compression;Reliability;Odometry;Laser radar;Robots;SLAM;localization;data association},
doi={10.1109/LRA.2024.3367268}}
Acknowledgements
Thanks for A-LOAM.