Awesome
<p align="center"> <h1 align="center">LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters</h1> <p align="center"> <a href="https://arxiv.org/pdf/2311.09887"><img src="https://img.shields.io/badge/Paper-pdf-<COLOR>.svg?style=flat-square" /></a> <a href="https://github.com/YibinWu/LIO-EKF"><img src="https://img.shields.io/ros/v/noetic/moveit_msgs.svg" /></a> <a href="https://github.com/YibinWu/LIO-EKF/blob/main/LICENSE"><img src="https://img.shields.io/badge/License-MIT-blue.svg?style=flat-square" /></a> </p> </p>TL;DR: LIO-EKF is a lightweight yet efficient LiDAR-inertial odometry system based on adaptive point-to-point registration and EKF.
1. Prerequisites
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Ubuntu OS (tested on 20.04)
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ROS
Follow ROS Noetic installation instructions for Ubuntu 20.04.
2. RUN LIO-EKF
2.1 Clone the repository and catkin_make
cd ~/catkin_ws/src
git clone git@github.com:YibinWu/LIO-EKF.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
2.2 Download the datasets
2.3 Run it
Replace the path to the rosbag (bagfile) in the launch files with your own path.
roslaunch lio_ekf urbanNav20210517.launch
roslaunch lio_ekf street_01.launch
roslaunch lio_ekf short_exp.launch
3. Citation
If you find our study helpful to your academic work, please consider citing the paper.
@inproceedings{wu2024icra,
author = {Wu, Yibin and Guadagnino, Tiziano and Wiesmann, Louis and Klingbeil, Lasse and Stachniss, Cyrill and Kuhlmann, Heiner},
title = {{LIO-EKF}: High Frequency {LiDAR}-Inertial Odometry using Extended {Kalman} Filters},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2024}
}
4. Contact
If you have any questions, please feel free to contact Mr. Yibin Wu {yibin.wu@igg.uni-bonn.de}.
5. Acknowledgement
Thanks a lot to KISS-ICP, which has inspired this work, and KF-GINS.