LaMa download | SourceForge.net

LaMa is a C++11 software library for robotic localization and mapping developed at the Intelligent Robotics and Systems (IRIS) Laboratory at the University of Aveiro - Portugal. It includes a framework for 3D volumetric grids (for mapping), a localization algorithm based on scan matching, and two SLAM solutions (an Online SLAM and a Particle Filter SLAM). The main feature is efficiency. Low computational effort and low memory usage whenever possible. The minimum viable computer to run our localization and SLAM solutions is a Raspberry Pi 3 Model B+. We provide a fast scan-matching approach to mobile robot localization supported by a continuous likelihood field. It can be used to provide accurate localization for robots equipped with a laser and a not-so-good odometry. Nevertheless, good odometry is always recommended.

Features

To build LaMa, clone it from GitHub and use CMake to build
Documentation available
Its only dependency is Eigen3
Integration with ROS
Sparse-Dense Mapping (SDM)
Localization based on Scan Matching
Online SLAM

Project Samples

Project Activity

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License

BSD License

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Additional Project Details

Operating Systems

Linux, Mac, Windows

Programming Language

C++

Related Categories

C++ Localization (L10N) Software, C++ Mapping Software, C++ Raspberry Pi Software

Registered

2024-07-12

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