点云处理网络2020-cvpr oral
google ceres 求解器
This repository contains code for a lightweight and ground optimized lidar odometry and mapping (LeGO-LOAM) system for ROS compatible UGVs. The system takes in point cloud from a Velodyne VLP-16 Lidar (palced horizontal) and optional IMU data as inputs. It outputs 6D pose estimation in real-time.
global planning algorithm
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