Efficient Doppler LiDAR Odometry using Scan Slicing and Vehicle Kinematics

Introduction: The ROS node estimates the 3D odometry of a vehicle using FMCW LiDAR. In the IEKF framework, we estimate the vehicle’s pose using not only 3D point cloud but also Doppler velocity.

[Prerequisites]

[ PCL && Eigen]

[PCL>= 1.8, Follow PCL Installation.]

[Eigen>= 3.3.4, Follow Eigen Installation.]

[Build]

[Clone the repository and catkin_make:]

    git clone https://github.com/pangchenglin/4DLO.git
    cd ..
    catkin_make
    source devel/setup.bash

Acknowledgments

Thanks for VoxelMap (An efficient and probabilistic adaptive voxel mapping method for LiDAR odometry).

License

The source code is released under GPLv2 license.For any technical issues, please contact us via email [email protected].