3D mapping of VIVES campus with ROS

Published by Nobel on

Mapping of the environment in the domain of autonomous driving is crucial. That is why we equipped our custom golfcart with a LIDAR (Puck – VLP16) sensor and a 3D camera (Realsense – d435i).

The presented mapping is solely done with 16-layer LIDAR. The computing of the mapping is been done with the Nuvo-7258 VTC. We’re running Ubuntu 18.04 on the computer and use ROS Melodic with several ROS packages to creating the mapping:

hdl_graph_slam is an open source ROS package for real-time 6DOF SLAM using a 3D LIDAR. It is based on 3D Graph SLAM with NDT (Normal Distribution Transform) scan matching-based odometry estimation and loop detection. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation (magnetic sensor), and floor plane (detected in a point cloud). For this demo no extra constraints were used. In the future, the GPS-RTK and IMU info will be added.

Mapping with odometry estimation (green line)