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/4D_LiDAR_Odometry.git
    cd ..
    catkin_make
    source devel/setup.bash

Acknowledgments

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