Odometry Estimation from Velodyne LiDAR Point Clouds

LiDAR, Velodyne, point cloud, odometry estimation, point cloud registration, Collar Line Segments, ICP

This software implements a novel method of odometry estimation from Velodyne LiDAR point cloud scans, i.e. the change in pose and orientation of the scanning device over time. The implemented method overcomes the most painful issues of Velodyne data - the sparsity and the quantity of data points - in an efficient way, enabling more precise registration. Alignment of two consequent Velodyne scans which yields the final odometry is based on a random sampling of the clouds using Collar Line Segments (CLS) and identification of correspondences between these line segments. Using the matched line segments, the software is able to estimate a precise transformation aligning the two Velodyne scans.

   - Stránka FIT VUT v Brně: http://www.fit.vutbr.cz/research/prod/index.php?id=460    - Repositář se zdrojovými kódy: https://github.com/robofit/but_velodyne_lib

Distributed under LGPL version 3 open source license.

For information and license conditions contact please: Mgr. Michaela Burianová, Research Centre of Information Technology, Faculty of Information Technology, Brno University of Technology, Božetěchova 2, 612 66 Brno, 541 141 470, http://www.fit.vutbr.cz/~burianova/

• zip but_velodyne_odom.zip 4 MB