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Best way to create outdoor map

asked 2022-09-24 18:21:15 -0600

zrahman gravatar image

I would like to create a map of the roads of a small region. The car has imu, gps, accurate odometry msg using robot_localization pkg. There is a front-facing lidar too but it has a smaller range. So, for now, I am looking for a map without lidar if possible though a 64-layer Velodyne lidar is coming soon. I found some mapping techniques such as gmapping, and hector-slam are for indoor mapping only. Rtab map requires a depth camera that I do not have. For autonomous navigation, I think a map is essential. I am not sure whether I need a 2D map or a 3D map. I would appreciate any suggestions.

So, how can I proceed with the current resources I have? Even if it requires a 360 lidar, which approach should I employ? At least I can create a map in the gazebo simulation with the lidar for now.

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answered 2022-10-06 02:40:32 -0600

hommsy gravatar image

updated 2022-10-06 03:28:41 -0600

you can possible look into lidar odometry and mapping packages such as LEGO-LOAM or LIO-SAM. There are a few other LOAM's out there, some use IMU+GPS+Lidar, some others only Lidar.

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A few links to these packages (ROS Wiki/ code repositories etc.) would make this answer better

ljaniec gravatar image ljaniec  ( 2022-10-06 03:16:03 -0600 )edit

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Asked: 2022-09-24 18:21:15 -0600

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Last updated: Oct 06 '22