LIGO

LIGO: Tightly Coupled LiDAR-Inertial-GNSS Odometry based on a Hierarchy Fusion Framework for Global Localization with Real-time Mapping

Code, paper, video are coming soon...... instruction for using will be detailed soon

Our paper is published on TRO

Our datasets are uploaded on Google Drive

Developers:

The codes of this repo are contributed by: Dongjiao He (贺东娇)

Properties

LIGO is a multi-sensor fusion framework that maximizes the complementary properties of both LiDAR and GNSS systems. This package achieves the following properties:

1. Competitive accuracy in trajectory estimation across large-scale scenarios.
2. Robustness to malfunctions of either GNSS or LiDAR sensors, enabling seamless handling of added or lost sensor signals during operation.
3. High-output-frequency odometry.
4. Capability of providing globally referenced pose estimations in both indoor and outdoor environments, suitable for ground vehicles and uncrewed aerial vehicles (UAVs).
5. No requirement for GNSS observations to be obtained exactly at the beginning or end time of LiDAR scans.
6. Robustness to large outliers and high noise levels in GNSS observations.

Build

Prerequisites

C++14 Compier

ROS noetic

Eigen 3

GTSAM

Livox Driver

gnss_comm with its instuction

Make

clone the code to catkin_ws workspace

cd ~/catkin_ws/src/
git clone https://github.com/Joanna-HE/LIGO..git

compile the package

cd ~/catkin_ws/
source /PATH/TO/LIVOX_DRIVER/DEVEL/.setup.bash
source /PATH/TO/GNSS_COMM/DEVEL/.setup.bash
catkin_make
source ~/catkin_ws/devel/setup.bash

Demo

Performance on a sequence with severe LiDAR degeneracy