Thirdparty Dependence

• ROS
• OpenCV
• Eigen3
• Ceres Solver
• PCL

Build

• clone this repository to your directory of ROS workspace
• catkin_make

How to run

• Set configurations in "src/lvi_calib/cfg/lvi.yaml"

  • The folder structure is as follows:

    

• Save camera trajectory from ORB-SLAM2 to the "ORB" folder

  • Download the vocabulary from the original repository of ORB-SLAM2

    roslaunch lvi_exc write_orb_slam_results.launch
    

• Save LiDAR trajectory from LOAM to the "LOAM" folder

  • The modified A-LOAM is included in this repository

    roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch bag_filename:=YOUR_RECORDED_BAGFILE
    

• Calibrate LiDAR-Camera-IMU extrinsics

  roslaunch lvi_exc lvi_init_orb_surfel.launch

Acknowledgements

• The authors of LI-Calib
• The authors of Kontiki
• The authors of ORB-SLAM2
• The authors of A-LOAM
• The authors of ndt-omp