LiDAR-Localization-100FPS

LiDAR-Localization-100FPS is a map-aided and template descriptor-based LiDAR global localization method.

Publication

Shi P, Li J, Zhang Y. LiDAR localization at 100 FPS: A map-aided and template descriptor-based global method[J]. International Journal of Applied Earth Observation and Geoinformation, 2023, 120: 103336.

How to use?

Before run, you must generate a (1) map point cloud and (2) map candidate point cloud.

1. Requirement

CMake
PCL
OpenCV

2. Build the project

mkdir build && cd build
cmake .. 
make -j4

3. Make map descriptors (only executed once before localization)

./map_process/make_map_squares

4. Run global localization

./run/run_global_localization