#  lt-mapper

**Repository Path**: qianlihaoyue/lt-mapper

## Basic Information

- **Project Name**:  lt-mapper
- **Description**: Forked from gisbi-kim/lt-mapper
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-05-15
- **Last Updated**: 2024-06-04

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# LT-mapper (ICRA 22)


可以优化的地方

- [ ] 代码里全局与局部坐标系转了n遍，可以在刚开始转一遍，之后一直使用全局坐标，在最后转回去

- [ ] 代码里HD与LD好多地方重复了



## Update

- 1.0 - 5.15 - fork代码

- 1.1 - 5.17 - 整理代码

- 1.2 - 5.18 - 整理removert代码

- 1.3 - 2023.5.19 - 折叠了部分LD HD

- 2.0 - 2024.6.4 - format


<!-- ------------------------------------------ -->
## What is LT-mapper?
- A Modular Framework for LiDAR-based Lifelong Mapping
  - [Paper](./doc/ltmapper-final.pdf)
  - [Video](https://youtu.be/vlYKfp1p2j8)

### Why LT-mapper?
- For LiDAR-based long-term mapping, three challenges exist. 
  
  <p align="center"><img src="doc/whyltmapper.png" width=1000></p>

### Features 
- TBA


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## How to use?

### Prerequisites 
- TBA

### build 
- TBA

<!-- ------------------------------------------ -->
## Tutorial and examples

### 0. Single-session Data Generation 
- Using [the saver](https://github.com/gisbi-kim/SC-LIO-SAM#applications) provided with [SC-LIO-SAM](https://github.com/gisbi-kim/SC-LIO-SAM) (also in [SC-A-LOAM](https://github.com/gisbi-kim/SC-A-LOAM)  or [FAST_LIO_SLAM](https://github.com/gisbi-kim/FAST_LIO_SLAM)), a user should generate the set of sesssion data (i.e., keyframe point cloud scans, keyframe scan context descriptors (SCDs), and an initial pose-graph text file) for each session. 

### 1. LT-SLAM 
- [Tutorial video](https://youtu.be/BXBTVurNToU)

- command
  ```
    # change the paths in ltslam/config/params.yaml
    roslaunch ltslam run.launch
  ```

### 2. LT-removert and LT-map
- `ltremovert` directory runs removert (for single-session cleaning) and change detection between two sessions. 
- command
  ```
    TBA
  ```
- Outputs
  
  <p align="center"><img src="doc/ltremovert_and_map_results.png" width=600></p>


<!-- ------------------------------------------ -->
## LT-mapper ParkingLot dataset 
- LT-mapper ParkingLot dataset contains six sequences during three days for the same spatial site, but different initial poses. 
- LT-SLAM automatically aligns them in a shared coordinate.
  
  <p align="center"><img src="doc/ltparkinglot.png" width=630></p>
- [Dataset Download Link](https://bit.ly/ltmapper_parkinglot_data). A sequence is replayable using [MulRan File Player](https://github.com/irapkaist/file_player_mulran). 
  - For the details of use, see [this tutorial video (TBA)](TBA). 

<!-- ------------------------------------------ -->
## Citation
```
@INPROCEEDINGS { kim2021ltmapper,
    AUTHOR = { Giseop Kim, Ayoung Kim },
    TITLE = { {LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping} },
    BOOKTITLE = { Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) },
    YEAR = { 2022 },
}
```

<!-- ------------------------------------------ -->
## Contact 
- Maintained by Giseop Kim and please contact the author via ``giseop.kim@naverlabs.com``