Lidar with Velocity

A robust camera and Lidar fusion based velocity estimator to undistort the pointcloud.

related paper: Lidar with Velocity : Motion Distortion Correction of Point Clouds fromOscillating Scanning Lidars arXiv

1. Prerequisites

1.1 Ubuntu and ROS. Tested on Ubuntu 18.04. ROS Melodic

1.2 Eigen

1.3 Ceres Solver

1.4 Opencv

2. Build on ROS

Clone the repository and catkin_make:

cd ~/catkin_ws/src
git clone https://github.com/ISEE-Technology/lidar-with-velocity
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

3. Directly run

First download our dataset data and extract in /catkin_ws/ path.

replace the "DATASET_PATH" in config/config.yaml with your extracted dataset path, example: (notice the "/")

dataset_path: YOUR_CATKIN_WS_PATH/catkin_ws/data/

replace the "CONFIG_YAML_PATH" with your config.yaml file path, example:

"YOUR_CATKIN_WS_PATH/catkin_ws/src/lidar-with-velocity/config.yaml"

Then follow the commands blow :

roscore
rviz -d src/lidar-with-velocity/rviz-cfg/vis.rviz
rosrun lidar-with-velocity main_ros

there will be a Rviz window and a PCL Viewer window to show the results, press key "space" to process the next frame.