Lidar-IMU-Localization

This repository is a Lidar-IMU Localization System with Prior Map Constraint and Lio Constraint for 3D LiDAR. The system is developed based on the open-source odometry framework LIO-Livox. And the feature extract moudle is implemented based on LIO-SAM .

• Mapping Moudle
  • A Modified FeatureExtract Function adapt for traditional spinning lidar,such as velodyne,ouster,robosense etc. ;
  • A Modified Tightly coupled Lidar-imu laserodometry LIO-Livox-modified;
• Localization Moudle
  • A Lidar-IMU Localization System with Prior Map Constraint and Lio Constraint for 3D LiDAR;
  • Three IMU_Mode: 0-without using IMU, 1-loose couple IMU and Lidar, 2-tightly coupled IMU and LiDAR;
  • Automatic switch Map-Location mode and LIO-Location mode;

demo

A test video of the dataset can be found on BiliBili

UrbanNavDataset test video can be found here

Prerequisites

• Ubuntu (tested on 18.04)
• ROS (tested with Melodic)
• Eigen
• Ceres Solver
• PCL
• livox_ros_driver
• Suitesparse sudo apt-get install libsuitesparse-dev

Compilation

cd ~/catkin_ws/src
git clone https://github.com/chengwei0427/Lidar_IMU_Localization
cd ..
catkin_make

Run with bag

(1) generate global map with LIO-SAM-modified

roslaunch GC_LOAM run.launch  

rosbag play yourbagname.bag --clock

rosserve call /save_map 

(2) run localization with global map and your test bag

rosbag LIO_Localization run_loc.launch

rosbag play yourbagname.bag --clock

Set initial pose in rviz

Notes

The current version of the system is just a demo and we haven't done enough tests.

There are some parameters in params.yaml files:

• IMU_Mode: choose IMU information fusion strategy, there are 3 modes:
  • 0 - without using IMU information, pure LiDAR odometry, motion distortion is removed using a constant velocity model (added 2022-09-16)
  • 1 - using IMU preintegration to remove motion distortion (added 2022-09-19)
  • 2 - tightly coupling IMU and LiDAR information (added 2022-09-27)

TODO

• [x] support tightly coupling IMU and LiDAR in Localization moudle
• [ ] estimated positioning accuracy
• [ ] abnormal check
• [ ] Lio and Map constraint weight
• [x] add test video
• [x] add demo example
• [ ] add encoder

Acknowledgements

Thanks for LOAM,LIO_SAM ,LIO-Livox.

Support