TC2LI-SLAM

TC2LI-SLAM: A Tightly-Coupled Camera-LiDAR-Inertial SLAM System

1. Dependencies

We have tested the library in Ubuntu 20.04.

PCL

Follow PCL Installation. Tested with PCL 1.12.0.

OpenCV

Download and install instructions can be found at: http://opencv.org. Tested with OpenCV 4.2.0.

Eigen3

Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.3.7.

DBoW2 and g2o (Included in Thirdparty folder)

We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.

Sophus (Included in Thirdparty folder)

We use a modified version of Sophus. It is included in the Thirdparty folder.

2. Build & Run

mkdir -p ~/$Workspace_DIR$/src
cd ~/$Workspace_DIR$/src
git clone https://github.com/sigerson925/TC2LI-SLAM.git
cd ..
git catkin build
source devel/setup.bash
roslauch tc2li_slam $Launch_File_Name$