Wide-Area Indoor and Outdoor Real-Time 3D SLAM

University of California, Berkeley
Open source code available at: github.com/erik-nelson/blam
Real-time 3D SLAM with a VLP-16 LiDAR. Point cloud resolution is 5 centimeters. Grid cells on the ground are 10 x 10 meters. No other sensors used. Loop closures are computed by ICP scan matching with scans from nearby poses, using GTSAM as a back-end.

[@lyken487]

Amazing! Thanks for sharing

[@robot3dprinting89]

Wow. That is awesome.

[@user-tj6yg7jr2m]

great job!

[@fauzijasrika]

amazing

[@user-ty5vv5oe1s]

Hello. Very awesome job. Thanks for showing this video, and I have some questions.
In ICP algorithm there are many methods for selecting corresponding points, which methods did you choose?
How many miliseconds dose it cost for one scan matching?

[@Gfish17]

its just like scanner sombre!

[@subsonictonic]

So cool

[@armstrongskyview2810]

Hi, great video.
Can i ask, dis you use Rtab map with only a lidar and thats it?
If so this is exactly what id like to do but there are no how to... like how to get rtab to use the lidar?
I could do tjis using a kinect but it takes too long and becomes inacuate as it can create a wall map on top of an already viwed wall your trying to pass by or fill a gap in.
Any feed back on this would be great as id love to just grab my laptop, a lidar and start mapping.
Thanks

[@anthonyasphar2554]

It would be nice to have this equipment in Australia to trial.

[@citizenraf]

As in the film "Prometheus" by Ridley Scott's

[@KoulbreezeThe1andONLY]

The pups

[@cekuhnen]

Hello Erik, I teach in Interior Design and Industrial Design and was looking into what I could do as a DIY - your results look fantastic. Would you be able to lent me some of your insight?

[@jailsontopografiaagricola5513]

Does the code work with scanner handle scanse sweep?

[@ahmedwathab302]

good job ,but can you show the steps that you used to generate this map ,because i am still confuse in the steps .thank you

[@ArghyaChatterjeeJony]

Can you please tell me what was the cost of this lidar? I am searching online and as if the authority is advertising in such a way that they don't want to disclose the cost.

[@BrettStevens2]

you need to stick this on the underside of a hexacopter for large area mapping

[@mechanicalmonk2020]

Remember Hexacopters? What a wild time

[@yuchengli8009]

are there any bag file that I can try this packages?

[@marinoramirez2137]

Awesome. Your software could works on RPLidar A1 sensor too? Thanks!

[@matthewforan281]

Sure, but that sensor is a 2d lidar so you might as well use a 2d slam library

[@lutfanmikail8375]

Hi, great work! May I know what kind of sensors (i.e. cameras) you use?

[@qur100]

VLP-16 LiDAR

[@saivenu120]

thanks for video, which software tool you used for it...example matalb or python ....like this

[@Spearmeat638]

search about ROS

[@Spearmeat638]

it works with python and c++

[@WaladiNurAkbar]

Can I use other Lidar devices or even Microsoft Kinect device?

[@shuyangan3892]

Waladi Nur Akbar possible, better to have a odometer as well

[@HungPham-pg6oq]

Tex routing

[@youli7339]

Thanks! What is the meaning of different colors?

[@BlissFC]

pretty sure its elevation

[@youli7339]

Hi Tyler, thanks for the replying :)

[@user-xx3qf8pk3y]

Is there any paper about this ?

[@geekhamza]

no :'(

[@GoDangDoiWorksTeam]

It using imu sensor?

[@user-lp3gz9bp1f]

no , blam has no topic accept imu data.

[@GoDangDoiWorksTeam]

张晓阳 im new on ROS, can u teach me step by step to install BLAM?

[@hab_punch]

Amazing! Thanks for sharing