SOLiD-A-LOAM

[IEEE RA-L] This repository is the official code for Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition.

Hogyun Kim, Jiwon Choi, Taehu Sim, Giseop Kim, Younggun Cho^†

Spatial AI and Robotics Lab (SPARO)

News

• [August, 2024] A real-time Livox LiDAR SLAM package that integrates LOAM-Livox and SOLiD called SOLiD-LOAM-LIVOX will be released!!

What is SOLiD-A-LOAM?

• A FOV-agnostic LiDAR SLAM package that integrates A-LOAM and SOLiD.

Prerequisites

• Ubuntu (version: 20.04)
• ceres (version: 1.14)
• gtsam (version: 4.0.0-alpha2)

How to use?

• Linux

  mkdir -p ~/solid_aloam_ws/src
  cd ~/solid_aloam_ws/src
  git clone https://github.com/sparolab/SOLiD-A-LOAM.git
  cd ../
  catkin_make
  source ~/solid_aloam_ws/devel/setup.bash
  roslaunch solid_a_loam solid_a_loam.launch
  

• Docker

  nvidia-docker run --gpus all --privileged \
  -it --name solid_aloam --ipc=host --shm-size=512M \
  --device=/dev/video0:/dev/video0 -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
  -e DISPLAY=unix$DISPLAY -v /root/.Xauthority:/root/.Xauthority --env="QT_X11_NO_MITSHM=1" \
  -v (your SOLiD-A-LOAM path):/home/solid_aloam_ws/src \
  -v (your Datasets path):/home/storage1 cokr6901/solid-a-loam:latest
  

Example Results

• KITTI Datasets (Narrow FOV)

  

• DiTer Datasets (Legged Robot)

  

Supplementary

• Arxiv
• Paper
• Video
• Project page

Main Contribution

• Hogyun Kim
• Jiwon Choi

Citation

@article{kim2024narrowing,
  title={Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition},
  author={Kim, Hogyun and Choi, Jiwon and Sim, Taehu and Kim, Giseop and Cho, Younggun},
  journal={IEEE Robotics and Automation Letters},
  year={2024},
  publisher={IEEE}
}

Contact

• Hogyun Kim (hg.kim@inha.edu)
• Jiwon Choi (jiwon2@inha.edu)

Special Thanks

Thank you Giseop Kim for providing the base code.