# SC-LIOSAM

**Repository Path**: xiaotingyang/sc-liosam

## Basic Information

- **Project Name**: SC-LIOSAM
- **Description**: In this version, we implement the ICP algorithm through ceres. After detecting the ground, we add the restraint about ground. What's more, we replace RSLoopDectection with Scancontext. 
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-03-28
- **Last Updated**: 2023-04-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# LIOSAM
## 简要描述
   本项目在LIOSAM基础上对地面点进行探测后再进行线面特征点分类，使用ceres实现线面特征点到局部地图的匹配，并构建地面约束，但实际上增加参与优化的地面点能够改善Z方向精度。适配六轴IMU和velodyne-16、pandar-64数据
## demo
## test