This work propose a matlab framwork for a feature based lidar Odometry.
It is highly inspired by Tixiao Shan and Brendan Englot's work: Lego LOAM (https://github.com/RobustFieldAutonomyLab/LeGO-LOAM)
This framework can be used with Velodyne VLP-16 and Velodyne HDL-64. Here are the recommended parameters for both configurations:
- VLP-16 : c_edge = 1, c_plane = 0.025, dist_threshold = 0.5
- HDL-64 : c_edge = 0.2, c_plane = 0.025, dist_threshold = 0.2
This is a plot on a KITTI dataset trajectory
