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LIO-SAM-6AXIS-INTENSITY

LIO-SAM-6AXIS with intensity image-based loop optimization.

This repo integrates LIO-SAM and Imaging_lidar_place_recognition to achieve better mapping and localization result for SLAM system. Thanks for their hard work!

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red line segments are for visual loop constraint from intensity image)

Introdction

This repo may help to build more accurate point cloud maps by introducing the intensity-based visual loop constraint.

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Dependency

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Run

In the LIO_SAM_6AXIS/LIO-SAM-6AXIS/launch/ouster128_indoors.launch, just set your bag_path and sequence.(Other configuration files are not ready, be careful not to use them)

roslaunch lio_sam_6axis ouster128_indoors.launch

for this config file LIO_SAM_6AXIS/LIO-SAM-6AXIS/config/indoor_ouster128.yaml.The parameter configuration method is the same as that of the Imaging_lidar_place_recognition system, and the brief descriptor and ORB feature matching are enabled at the same time indoors. The brief descriptor matching is consistent with VINS-MONO.

  # Feature matching
  use_brief: 1                    # enabling flag for BRIEF feature
  use_orb: 1                      # enabling flag for ORB feature
  num_bri_features: 200           # feature num for BRIEF
  num_orb_features: 500           # feature num for ORB

  # Loop settings
  min_loop_feature_num: 20        # minimum feature number threshold
  min_loop_bow_th: 0.015          # BOW search threshold

Discussion

The system also has the following problems

We analyze why it is effective in indoor scenarios:

  1. There is no extrinsic error when the lidar is projected to the intensity image compared to RGB camera.
  2. Each pixel of the intensity image corresponds to a unique lidar point. So there is an accurate depth, and the feature matching performance is good after the outlier rejection by PNPRansanc .

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Dataset

when you download this compressed data, remember to execute the following command

rosbag decompress 20220216_garden_day_ref_compressed.bag

FusionPortable(IROS 2022)

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Star History

Star History Chart