LOAM: Lidar Odometry and Mapping (Video)

LOAM is a 3D mapping method using lidar point cloud and optionally an IMU. The method performs scan matching to estimate motion of the lidar and map in realtime. The program has two threads running in parallel at different frequencies, for coarse to fine processing of the point cloud. The method is split into two versions using a back and forth spin and a continuous spin lidar. The latter is mounted on an UAV.

Back and Forth Spin Version (Web) (Code)

Continuous Spin Version (Web) (Code)

DEMO: Depth Enhanced Monocular Odometry (Video)

DEMO estimates motion of a monocular camera with assistance of depth information, i.e. from a lidar or an RGB-D camera, and optionally an IMU. Different from existing RGB-D visual odometry, the method can handle sparsely provided depth information by involving both features whose depth is available and unknown. Two versions of the code are available, using a camera + 3D lidar and an RGB-D camera.

Camera and Lidar Version (Web) (Code)

RGB-D Camera Version (Web) (Code)

 •  Slimmed down version for embedded systems (Code)