E-LVI-SAM

English README/中文版README

Easier and Simplified Implementation of LVI-SAM

E-LVI-SAM is a easier and simplified implementation of LVI-SAM.The main modifications are as follows:

• The code structure has been optimized, and the unnecessary codes have been deleted, followed LVI-SAM-Easyused
• Detailed Chinese notes are added to the code, follewed Zhihu and LVI-SAM_detailed_comments
• Using a docker image created before in LVI-SAM_detailed_comments, which can save local environment configuration time

Prerequisites

with Docker

We strongly recommend the docker

docker pull liangjinli/slam-docker:v1.2

more details can be seen in LVI-SAM Docker使用图文简介

without Docker

See in dependency

Map Result

Run the package on different datasets

in Official dataset

roslaunch lvi_sam run_official.launch rosbag play handheld.bag

in M2DGR dataset

roslaunch lvi_sam M2DGR.launch rosbag play gate_01.bag

in UrbanNavDataset

roslaunch lvi_sam UrbanNavDataset.launch rosbag play 2020-03-14-16-45-35.bag

in KITTI raw dataset

roslaunch lvi_sam KITTI.launch rosbag play kitti_2011_09_26_drive_0084_synced.bag

Acknowledgement

• Original LVI-SAM
• Cc19245 LVI-SAM-Easyused
• CVlife LVI-SAM_detailed_comments
• Alvin Zhihu

Star History