NA-LOAM

Source code of NA-LOAM: Normal-based Adaptive LiDAR Odometry and Mapping

The code and relavent materials will be uploaded upon acceptance of the paper.

We firstly open sourced the code Ground FALS normal estimator

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu >= 18.04

For Ubuntu 18.04 or higher, the default PCL and Eigen is enough for NA-LOAM to work normally.

1.2 Ground-FALS Normal Estimator

Compile follow Ground FALS normal estimator.

KITTI Dataset

Both the frequency of images and LiDAR point clouds of KITTI-Odometry are 10 Hz, while they are strictly one-to-one. In addition, the motion distortion of LiDAR pont cluods have been calibrated in advance, therefore, users do not need to consider the effect of motion distortion when evaluation on KITTI-Odometry. Users can directly utilize the KITTI-Odometry to ROS bag tool to convert data of KITTI odometry to ROS bag format.