- This repository is a map-based localization implementation combining FAST-LIO2 as an odometry with Quatro and Nano-GICP module as a map matching method
- Quatro - fast, accurate and robust global registration which provides great initial guess of transform
- Quatro module -
Quatroas a module, can be easily used in other packages - Nano-GICP module - fast ICP combining FastGICP + NanoFLANN
- Note: similar repositories already exist
- FAST_LIO_LOCALIZATION: FAST-LIO2 + Open3D's ICP
- Note2: main code is modularized and hence can be combined with any other LIO / LO
- Note3: this repo is to apply
Quatroin localization.Quatrocan be worked in scan-to-scan matching or submap-to-submap matching but not scan-to-submap, i.e., the numbers of pointclouds to be matched should be similar. - Note4: saved map file is needed. The map should be in
.bagformat. This.bagfiles can be built with FAST-LIO-SAM-QN and FAST-LIO-SAM
Video clip - https://youtu.be/MQ8XxRY472Y
C++>= 17,OpenMP>= 4.5,CMake>= 3.10.0,Eigen>= 3.2,Boost>= 1.54ROSTeaser++git clone https://github.com/MIT-SPARK/TEASER-plusplus.git cd TEASER-plusplus && mkdir build && cd build cmake .. -DENABLE_DIAGNOSTIC_PRINT=OFF sudo make install -j16 sudo ldconfig
tbb(is used for fasterQuatro)sudo apt install libtbb-dev
- Get the code and then build the main code.
cd ~/your_workspace/src git clone https://github.com/engcang/FAST-LIO-Localization-QN --recursive cd ~/your_workspace # nano_gicp, quatro first catkin build nano_gicp -DCMAKE_BUILD_TYPE=Release # Note the option! catkin build quatro -DCMAKE_BUILD_TYPE=Release -DQUATRO_TBB=ON catkin build -DCMAKE_BUILD_TYPE=Release . devel/setup.bash
- Then run
roslaunch fast_lio_localization_qn run.launch lidar:=ouster roslaunch fast_lio_localization_qn run.launch lidar:=velodyne roslaunch fast_lio_localization_qn run.launch lidar:=livox
- Change config files in
- third_party/
FAST_LIO/config - fast_lio_localization_qn/config
- third_party/
- odom_pcd_cb
- pub realtime pose in corrected frame
- keyframe detection -> if keyframe, add to pose graph + save to keyframe queue
- matching_timer_func
- process a saved keyframe
- detect map match -> if matched, correct TF
- process a saved keyframe
- vis_timer_func
- visualize all
Quatromodule fixed for empty matchesQuatromodule is updated withoptimizedMatchingwhich limits the number of correspondences and increased the speed