An improvement of FasterGICP: Acceptance-rejection Sampling based 3D Lidar Odometry

Last update: Dec 31, 2022

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Overview

fasterGICP

This package is an improvement of fast_gicp

Please cite our paper if possible.

W. Jikai, M. Xu, F. Farzin, D. Dai and Z. Chen, "FasterGICP: Acceptance-rejection Sampling based 3D Lidar Odometry," in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2021.3124072.

Installation

Dependencies

PCL
Eigen
OpenMP
CUDA (optional)
Sophus
nvbio

We have tested this package on Ubuntu 18.04/20.04 and CUDA 11.1.

CUDA

To enable the CUDA-powered implementations, set BUILD_VGICP_CUDA cmake option to ON.

Non-ROS

git clone https://github.com/SMRT-AIST/fast_gicp --recursive
mkdir fast_gicp/build && cd fast_gicp/build
cmake .. -DCMAKE_BUILD_TYPE=Release
# enable cuda-based implementations
# cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON
make -j8

Test on KITTI

C++

cd fasterGICP/build
# reading program parameters from fasterGICP/include/settings.txt 
./gicp_kitti

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