SLAM-application

开源

LeGO-LOAM、LIO-SAM、LVI-SAM、FAST-LIO2、Faster-LIO、VoxelMap、R3LIVE、Point-LIO、KISS-ICP、DLO、DLIO、Ada-LIO、PV-LIO、SLAMesh、ImMesh、FAST-LIO-MULTI、M-LOAM，

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工具介绍

LeGO-LOAM、LIO-SAM、LVI-SAM、FAST-LIO2、Faster-LIO、VoxelMap、R3LIVE、Point-LIO、KISS-ICP、DLO、DLIO、Ada-LIO、PV-LIO、SLAMesh、ImMesh、FAST-LIO-MULTI、M-LOAM，

SLAM-application: installation and test

3D, single-LiDAR without IMU (or optionally with IMU): LeGO-LOAM, KISS-ICP, DLO, CT-ICP, and GenZ-ICP
3D, single-LiDAR with IMU: LIO-SAM, LVI-SAM, FAST-LIO2, Faster-LIO, VoxelMap, R3LIVE, PV-LIO, SLAMesh, ImMesh, iG-LIO, and SR-LIO
3D, multi-LiDARs: FAST-LIO-MULTI, M-LOAM, LOCUS2.0, SLICT1.0, and MA-LIO

Results:

● Single-LiDAR

video: Lego-LOAM vs LIO-SAM vs LVI-SAM
video2: LIO-SAM vs LVI-SAM
video3: LIO-SAM vs FAST-LIO2
video4: FAST-LIO2 vs Livox-mapping vs LOAM-Livox using Livox Mid-70 LiDAR, real-world
video5: FAST-LIO2 in the building with narrow stairs using Ouster OS0-128, real-world
video6: FAST-LIO2 in the narrow tunnels using Ouster OS0-128 on the UAV (drone)
video7: Faster-LIO vs FAST-LIO in the building with narrow stairs using Ouster OS0-128, real-world
video8: VoxelMap in the building using Intel Realsense L515, real-world
video9: R3LIVE in the building and around the building using Livox Mid-70 LiDAR, FLIR Blackfly S, Pixhawk4 mini, real-world
video10: FAST-LIO2 vs Ada-LIO vs Point-LIO vs KISS-ICP in the building with narrow stairs, real-world
video11: FAST-LIO2 vs Ada-LIO in Gazebo challenging environments
video12: DLO vs FAST-LIO2
video13: DLO vs DLIO vs Ada-LIO vs FAST-LIO2
video15: Ada-LIO vs PV-LIO vs SLAMesh
video16: Ada-LIO vs PV-LIO
video17: Ada-LIO vs ImMesh

● Multi-LiDARs

video14: FAST-LIO-MULTI bundle update vs asynchronous update

Dependencies

Common packages

bash

$ sudo apt-get install -y ros-noetic-navigation ros-noetic-robot-localization ros-noetic-robot-state-publisher

[CMake] version should be more recent than 3.20.5 for CT-ICP

bash

$ wget https://github.com/Kitware/CMake/archive/refs/tags/v3.31.3.tar.gz
$ tar zxf v3.31.3.tar.gz
$ cd CMake-3.31.3
$ ./bootstrap
$ make
$ sudo make install

GTSAM for LVI-SAM and LIO-SAM

bash

$ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
$ unzip gtsam.zip
$ cd gtsam-4.0.2/
$ mkdir build && cd build
$ cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
$ sudo make install -j8

Ceres solver for LVI-SAM, SLAMesh, and SLICT1.0

bash

$ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
$ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz #LVI-SAM
$ wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz #SLAMesh, SLICT1.0
$ tar zxf ceres-solver-1.14.0.tar.gz #LVI-SAM
$ tar zxf ceres-solver-2.1.0.tar.gz #SLAMesh, SLICT1.0
$ mkdir ceres-bin
$ mkdir solver && cd ceres-bin
$ cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver"  #good for build without being root privileged and at wanted directory
$ make -j8 # 8 : number of cores
$ make test
$ make install

CGAL and pcl-tools for R3LIVE

bash

$ sudo apt install libcgal-dev pcl-tools

Optionally,
$ sudo apt install meshlab

glog, g++-9 and gcc-9 for Faster-LIO

bash

$ sudo apt-get install libgoogle-glog-dev
$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
$ sudo apt update
$ sudo apt install gcc-9 g++-9
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9

Note: `Ouster-ros` package cannot be built with `gcc` and `g++` with the version higher than 6,

When building ouster-ros,

bash

catkin b -DCMAKE_C_COMPILER=gcc-6 -DCMAKE_CXX_COMPILER=g++-6 -DCMAKE_BUILD_TYPE=Release

Installation (single LiDAR without IMU)

● LeGO-LOAM

bash

$ cd ~/your_workspace/src
$ git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● DLO

bash

$ sudo apt install libomp-dev libpcl-dev libeigen3-dev 
$ cd ~/your_workspace/src
$ git clone https://github.com/vectr-ucla/direct_lidar_odometry.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● CT-ICP

[CMake] version should be more recent than 3.20.5 for CT-ICP

bash

$ wget https://github.com/Kitware/CMake/archive/refs/tags/v3.31.3.tar.gz
$ tar zxf v3.31.3.tar.gz
$ cd CMake-3.31.3
$ ./bootstrap
$ make
$ sudo make install

Clone and build

…

● KISS-ICP (ROS1)

Note: KISS-ICP (ROS1) cannot be build with `gcc` and `g++` with the version higher than 9

bash

$ cd ~/your_workspace/src
$ git clone https://github.com/PRBonn/kiss-icp.git
$ git reset --hard 460c6f2
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release -DCMAKE_C_COMPILER=gcc-9 -DCMAKE_CXX_COMPILER=g++-9

● GenZ-ICP

Note: GenZ-ICP cannot be build with `gcc` and `g++` with the version higher than 9

bash

$ cd ~/your_workspace/src
$ git clone https://github.com/cocel-postech/genz-icp
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release -DCMAKE_C_COMPILER=gcc-9 -DCMAKE_CXX_COMPILER=g++-9

Installation (single LiDAR with IMU)

● LIO-SAM

bash

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LIO-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● LVI-SAM

bash

$ cd ~/your_workspace/src
$ git clone https://github.com/TixiaoShan/LVI-SAM.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for LVI-SAM

for OpenCV 4.X, edit LVI-SAM/src/visual_odometry/visual_loop/ThirdParty/DVision/BRIEF.cpp:53

cpp

// cv::cvtColor(image, aux, CV_RGB2GRAY);
cv::cvtColor(image, aux, cv::COLOR_RGB2GRAY);

● FAST-LIO2

bash

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ cd ~/your_workspace/src
$ git clone --recursive https://github.com/hku-mars/FAST_LIO.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Faster-LIO

bash

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ tar -xvf tbb2018_20170726oss_lin.tgz

$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss -DCMAKE_BUILD_TYPE=Release

● Faster-LIO on `ARM` architecture (e.g., Jetson Xavier)

bash

$ cd ~/your_workspace/src
$ git clone https://github.com/gaoxiang12/faster-lio.git

$ cd faster-lio/thirdparty
$ git clone https://github.com/syoyo/tbb-aarch64
$ cd tbb-aarch64
$ ./scripts/bootstrap-aarch64-linux.sh
$ cd build-aarch64
$ make && make install

$ gedit faster-lio/cmake/packages.cmake

Edit line 13 as:
    #set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib/intel64/gcc4.7")
    set(TBB2018_LIBRARY_DIR "${CUSTOM_TBB_DIR}/lib")

$ cd ~/your_workspace
$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb-aarch64/dist -DCMAKE_BUILD_TYPE=Release

● VoxelMap

bash

$ cd ~/your_workspace/src
$ git clone https://github.com/Livox-SDK/livox_ros_driver.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

$ git clone https://github.com/hku-mars/VoxelMap.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for VoxelMap

/usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ ...
- You could meet this error in ROS-noetic. Fix as here

bash

$ sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
$ sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

$ sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
$ sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

● R3LIVE

bash

$ cd ~/your_workspace/src
$ git clone https://github.com/hku-mars/r3live.git
$ cd ..
$ catkin build -DCMAKE_BUILD_TYPE=Release

● Trouble shooting for R3LIVE

LiDAR incoming frame too old ...

Original Livox-ros-driver does not publish the data with ROS timestamp, but LiDAR time.
So, use modified livox-ros-driver here
If that does not solve the problem, edit lddc.cpp yourself, line 563:

cpp

//livox_msg.header.stamp = ros::Time((timestamp - init_lidar_tim - packet_offset_time )  / 1e9 + init_ros_time);
  livox_msg.header.stamp = ros::Time::now();
  /**************** Modified for R2LIVE **********************/
  ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle);
  if (kOutputToRos == output_type_)
  {
    p_publisher->publish(livox_msg);
  }

● How to properly set configuration for R3LIVE

Camera calibration - use Kalibr or camera_calibration
- Kalibr - refer original repo
- camera_calibration - use as here
Lidar-Camera calibration
- Other spinning LiDARs are not supported yet (for RGB mapping), but try to use lidar_camera_calibration repo, if you want to.
- For LiVOX LiDAR, use livox_camera_calib repo
  - Record a bag file of LiVOX LiDAR data and capture the image from RGB camera you use.
  - Convert a bag file into a PCD file with (change directories in the launch file):
  bash
```
$ roslaunch livox_camera_calib bag_to_pcd.launch
```
  - Then, calibrate LiDAR and camera as (change directories in the launch and config files):
  bash
```
$ roslaunch livox_camera_calib calib.launch
```

★Note: extrinsic rotational parameter from `livox_camera_calib` should be transposed in the `r3live_config.yaml` file. Refer my extrinsic result and r3live config file

Left: Target image. Right: Target PCD

Left: calibrated image and residuals. Right: calibrated image

Sensor configuration of mine: Pixhawk4

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> 标签

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> 工具信息

发布日期2026年8月1日

最后更新2026年9月17日

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SLAM-application

工具介绍

SLAM-application: installation and test

Results:

● Single-LiDAR

● Multi-LiDARs

Dependencies

Note: Ouster-ros package cannot be built with gcc and g++ with the version higher than 6,

Installation (single LiDAR without IMU)

● LeGO-LOAM

● DLO

● CT-ICP

● KISS-ICP (ROS1)

Note: KISS-ICP (ROS1) cannot be build with gcc and g++ with the version higher than 9

● GenZ-ICP

Note: GenZ-ICP cannot be build with gcc and g++ with the version higher than 9

Installation (single LiDAR with IMU)

● LIO-SAM

● LVI-SAM

● Trouble shooting for LVI-SAM

● FAST-LIO2

● Faster-LIO

● Faster-LIO on ARM architecture (e.g., Jetson Xavier)

● VoxelMap

● Trouble shooting for VoxelMap

● R3LIVE

● Trouble shooting for R3LIVE

● How to properly set configuration for R3LIVE

★Note: extrinsic rotational parameter from livox_camera_calib should be transposed in the r3live_config.yaml file. Refer my extrinsic result and r3live config file

Issues· 0 开放

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> 工具信息

> 相关工具

Note: `Ouster-ros` package cannot be built with `gcc` and `g++` with the version higher than 6,

Note: KISS-ICP (ROS1) cannot be build with `gcc` and `g++` with the version higher than 9

Note: GenZ-ICP cannot be build with `gcc` and `g++` with the version higher than 9

● Faster-LIO on `ARM` architecture (e.g., Jetson Xavier)

★Note: extrinsic rotational parameter from `livox_camera_calib` should be transposed in the `r3live_config.yaml` file. Refer my extrinsic result and r3live config file