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Semantic SLAM designed for urban road scene.

LaneSLAM Semantic SLAM designed for urban road scene. Tightly Coupled Lidar-IMU Inertial Mapping Framework 1.calibrate lidar and imu, lidar and camera
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Category: Python / Deep Learning
Watchers: 5
Star: 29
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Last update: Nov 28, 2021
Resource links
https://github.com/JokerJohn/LaneSLAM

LaneSLAM

Semantic SLAM designed for urban road scene.

image-20211125214237580

Tightly Coupled Lidar-IMU Inertial Mapping Framework

1.calibrate lidar and imu, lidar and camera

2.color the point cloud.

image-20211125214315918

Semantics Based on LIDAR intensity and Image segmentation

1.Road segmentation based on deep learning.

image-20211125214719782

image-20211125214703525

2.Extract Ground cloud and Road Points(Line, road mark , crosswalk、curb and other road elements)

  • Ground extraction based on Ransanc and plane fitting
  • Use intensity-based filter to extract road points, maybe you need to calibrate the intensity of your lidar first and rescale your intensity to a reasonable scale.

image-20211125214812460

image-20211125214755438

3.Fuse lidar points with images and get a semantic map.

Object SLAM based on Geometric and metric information

1.Multi-frame Line tracking and fitting.

2.Stop Line based loop clouser

Contents

    martinfleis Momepy is a library for quantitative analysis of urban form - urban morphometrics.
    yiakwy semantic visual slam for monocular and stereo camera devices
    heethesh SALSA: Semantic Assisted Life-Long SLAM for Indoor Environments (16-833 SLAM Project at CMU)
    wh200720041 Intensity SLAM
    DreamWaterFound New SLAM-related papers submitted to arXiv.org. Update weekly.
    JingwenWang95 [3DV 2021] DSP-SLAM: Object Oriented SLAM with Deep Shape Priors
    shachoi HANet: Official Project Webpage
    nkwangyh A Piecewise-Pinhole Monocular Fisheye SLAM System
    ckddls1321 SLAM Resources to follow up current SLAM trends and papers.
    srrg-sapienza Plug-and-Play SLAM core repository. Atomic and compound SLAM modules
    gisbi-kim PyICP SLAM - Full-python LiDAR SLAM using ICP and Scan Context
    WeikaiTan Toronto-3D: A Large-scale Mobile LiDAR Dataset for Semantic Segmentation of Urban Roadways
    TurtleZhong A basic implementation(not official code) of AVP-SLAM(IROS 2020) in simulation. https://arxiv.org/abs/2007.01813
    QingyongHu 🔥Urban-scale point cloud dataset
    PRBonn Bonnet: An Open-Source Training and Deployment Framework for Semantic Segmentation in Robotics.
    lxtGH This repo provides :zap: fast:zap: semantic segmentation models on CityScapes/Camvid DataSet by Pytorch
    CSAILVision Pytorch implementation for Semantic Segmentation/Scene Parsing on MIT ADE20K dataset
    gradslam gradslam is an open source differentiable dense SLAM library for PyTorch
    koide3 3D LIDAR-based Graph SLAM
    devendrachaplot Pytorch code for ICLR-20 Paper "Learning to Explore using Active Neural SLAM"
    wuxiaolang 视觉(语义) SLAM 相关研究跟踪
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