robot 3D localization between seasons (and in partial maps) using Livox MID-360 and ROS

This time we (owlrobotics.de) are testing a challenging task: Can we create a 3D LiDAR map in winter and use it to 3D-localize a robot in summer (and vice versa)? And will this even work with partial recorded maps? Let's find out :-) using a Livox MID-360 and ROS ('mcl_3dl'): white are matched points with the map, yellow are unmatched points with the map (because they are missing in the map or because the estimated position is wrong).

[@a.k.aproxi5442]

Hey,
Can you provide repo link, I am unable to do Localization using my mid360 and Fast_lio..
Thanks in advance

[@alexandergrau887]

Here's the link to mid360 and fast_lio: github.com/SylarAnh/fast_lio_mid360 - Note, that this is for lidar odometry and mapping/localization in a new map - for localization in a pre-recorded map there exist other ROS packages (e.g. 'mcl_3dl' as used in this video)

[@JoseDavidCortes]

@@alexandergrau887 thanks for sharing the link 🤓