sparolab/solid

(RA-L 2024) This repository is the official code for Narrowing your FOV with SOLiD: Spatially Organized and Lightweight Global Descriptor for FOV-constrained LiDAR Place Recognition.

SOLiD

[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.

NEWS

• [August, 2024] Now, the SOLiD-PyICP-SLAM code is released!!
• [August, 2024] The SOLiD is added in awesome-lidar-place-recognition!!
• [August, 2024] Now, the SOLiD code is released!!
• [July, 2024] SOLiD is accepted in RA-L!!

Note

• SOLiD can be integrated with various LiDAR odometry including solid-state LiDAR.
  • (TBD) Integrated with A-LOAM: SOLiD-A-LOAM
  • (TBD) Integrated with LOAM-LIVOX: SOLiD-LOAM-LIVOX
  • Integrated with a basic ICP odometry: SOLiD-PyICP-SLAM
    • This implementation is fully python-based so slow but educational purpose.

What are the problems with traditional LiDAR Place Recognition?

• The traditional method uses a bird eye view and overlooks vertical information.
• Also, because it focuses on performance, it is difficult to apply in real-time on an onboard computer.

  

What is the SOLiD?

• SOLiD is a lightweight and fast LiDAR global descriptor for FOV constraints situations that are limited through fusion with other sensors or blocked by robot/sensor operators including mechanical components or solid-state LiDAR (e.g. Livox).

  

How to use the SOLiD?

• Python version
  • If you use the other LiDAR sensor, you modify the parameters in parser of test.py and lidar file structure in utils/point_module.py.

    $ git clone https://github.com/sparolab/solid.git
    $ cd python
    $ python3 test.py

• Cpp version
  • If you use the other LiDAR sensor, you modify the parameters in include/solid_module.h.

    $ git clone https://github.com/sparolab/solid.git
    $ cd cpp
    $ mkdir build
    $ cd build
    $ cmake ..
    $ make
    $ ./test_solid

Utils

• If you want to clip the points, you can use python/bin/point_clipper.py

    $ git clone https://github.com/sparolab/solid.git
    $ cd python/bin/
    $ python3 point_clipper.py

Supplementary

• Arxiv
• Paper
• Video
• Project page

Main Contribution

• Hogyun Kim
• Jiwon Choi
• Taehu Sim
• Giseop Kim
• Younggun Cho

QnA

• If you have a question, you utilize a alphaXiv and comment here.

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 ([email protected])

solid's Issues

How about the performance compare with SC using 360 deg mechanical LiDAR?