# lidar_slam_3d

**Repository Path**: Bryan_Jiang/lidar_slam_3d

## Basic Information

- **Project Name**: lidar_slam_3d
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-01-01
- **Last Updated**: 2021-01-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# lidar_slam_3d
## Details
lidar_slam_3d is a ROS package for real-time 3D slam. It is based on NDT registration algorithm. With loop detection and back-end optimization, a map with global consistency can be generated.


## Example
An example map build by vlp-16.  

<img src="image/map.png" height="512pix" /> 

## Requirements
* pcl
* g2o
## Build
  ```shell 
  cd ${catkin_workspace}/src
  git clone https://github.com/ningwang1028/lidar_slam_3d.git
  cd ..
  catkin_make
  ```
## Run 
  ```shell  
  roslaunch lidar_slam_3d lidar_slam_3d.launch  
  ```