├── LiDAR_Odometry_from_Scratch.pdf ├── README.md ├── chapter1 ├── README.md ├── data │ ├── 00000.pcd │ └── 00010.pcd ├── requirements.txt └── visualize_lidar.py ├── chapter2 ├── README.md ├── __pycache__ │ ├── gauss_newton_solver.cpython-310.pyc │ ├── gauss_newton_solver.cpython-38.pyc │ ├── levenberg_marquardt_solver.cpython-310.pyc │ ├── math_utils.cpython-310.pyc │ ├── point_cloud_utils.cpython-310.pyc │ ├── point_cloud_utils.cpython-38.pyc │ ├── point_to_plane_icp.cpython-310.pyc │ ├── point_to_plane_icp.cpython-38.pyc │ ├── se3_utils.cpython-310.pyc │ └── se3_utils.cpython-38.pyc ├── data │ ├── 00000.pcd │ ├── 00001.pcd │ ├── 00002.pcd │ ├── 00003.pcd │ ├── 00004.pcd │ ├── 00005.pcd │ ├── 00006.pcd │ ├── 00007.pcd │ ├── 00008.pcd │ ├── 00009.pcd │ └── 00010.pcd ├── gauss_newton_solver.py ├── point_cloud_utils.py ├── point_to_plane_icp.py ├── requirements.txt ├── run_icp.py └── se3_utils.py ├── chapter3 ├── README.md ├── __pycache__ │ ├── gauss_newton_solver.cpython-310.pyc │ ├── gauss_newton_solver.cpython-38.pyc │ ├── point_cloud_utils.cpython-310.pyc │ ├── point_cloud_utils.cpython-38.pyc │ ├── point_to_plane_icp.cpython-310.pyc │ ├── point_to_plane_icp.cpython-38.pyc │ ├── run_sequential_local_mapping.cpython-310.pyc │ ├── run_sequential_local_mapping.cpython-38.pyc │ ├── se3_utils.cpython-310.pyc │ └── se3_utils.cpython-38.pyc ├── data │ ├── 00000.pcd │ ├── 00001.pcd │ ├── 00002.pcd │ ├── 00003.pcd │ ├── 00004.pcd │ ├── 00005.pcd │ ├── 00006.pcd │ ├── 00007.pcd │ ├── 00008.pcd │ ├── 00009.pcd │ └── 00010.pcd ├── gauss_newton_solver.py ├── point_cloud_utils.py ├── point_to_plane_icp.py ├── run_sequential_local_mapping.py ├── se3_utils.py └── visualize_sequential_mapping.py └── odom.png /LiDAR_Odometry_from_Scratch.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/LiDAR_Odometry_from_Scratch.pdf -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/README.md -------------------------------------------------------------------------------- /chapter1/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter1/README.md -------------------------------------------------------------------------------- /chapter1/data/00000.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter1/data/00000.pcd -------------------------------------------------------------------------------- /chapter1/data/00010.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter1/data/00010.pcd -------------------------------------------------------------------------------- /chapter1/requirements.txt: -------------------------------------------------------------------------------- 1 | open3d 2 | numpy -------------------------------------------------------------------------------- /chapter1/visualize_lidar.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter1/visualize_lidar.py -------------------------------------------------------------------------------- /chapter2/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/README.md -------------------------------------------------------------------------------- /chapter2/__pycache__/gauss_newton_solver.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/__pycache__/gauss_newton_solver.cpython-310.pyc -------------------------------------------------------------------------------- /chapter2/__pycache__/gauss_newton_solver.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/__pycache__/gauss_newton_solver.cpython-38.pyc -------------------------------------------------------------------------------- /chapter2/__pycache__/levenberg_marquardt_solver.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/__pycache__/levenberg_marquardt_solver.cpython-310.pyc -------------------------------------------------------------------------------- /chapter2/__pycache__/math_utils.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/__pycache__/math_utils.cpython-310.pyc -------------------------------------------------------------------------------- /chapter2/__pycache__/point_cloud_utils.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/__pycache__/point_cloud_utils.cpython-310.pyc -------------------------------------------------------------------------------- /chapter2/__pycache__/point_cloud_utils.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/__pycache__/point_cloud_utils.cpython-38.pyc -------------------------------------------------------------------------------- /chapter2/__pycache__/point_to_plane_icp.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/__pycache__/point_to_plane_icp.cpython-310.pyc -------------------------------------------------------------------------------- /chapter2/__pycache__/point_to_plane_icp.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/__pycache__/point_to_plane_icp.cpython-38.pyc -------------------------------------------------------------------------------- /chapter2/__pycache__/se3_utils.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/__pycache__/se3_utils.cpython-310.pyc -------------------------------------------------------------------------------- /chapter2/__pycache__/se3_utils.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/__pycache__/se3_utils.cpython-38.pyc -------------------------------------------------------------------------------- /chapter2/data/00000.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00000.pcd -------------------------------------------------------------------------------- /chapter2/data/00001.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00001.pcd -------------------------------------------------------------------------------- /chapter2/data/00002.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00002.pcd -------------------------------------------------------------------------------- /chapter2/data/00003.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00003.pcd -------------------------------------------------------------------------------- /chapter2/data/00004.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00004.pcd -------------------------------------------------------------------------------- /chapter2/data/00005.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00005.pcd -------------------------------------------------------------------------------- /chapter2/data/00006.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00006.pcd -------------------------------------------------------------------------------- /chapter2/data/00007.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00007.pcd -------------------------------------------------------------------------------- /chapter2/data/00008.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00008.pcd -------------------------------------------------------------------------------- /chapter2/data/00009.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00009.pcd -------------------------------------------------------------------------------- /chapter2/data/00010.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/data/00010.pcd -------------------------------------------------------------------------------- /chapter2/gauss_newton_solver.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/gauss_newton_solver.py -------------------------------------------------------------------------------- /chapter2/point_cloud_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/point_cloud_utils.py -------------------------------------------------------------------------------- /chapter2/point_to_plane_icp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/point_to_plane_icp.py -------------------------------------------------------------------------------- /chapter2/requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/requirements.txt -------------------------------------------------------------------------------- /chapter2/run_icp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/run_icp.py -------------------------------------------------------------------------------- /chapter2/se3_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter2/se3_utils.py -------------------------------------------------------------------------------- /chapter3/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/README.md -------------------------------------------------------------------------------- /chapter3/__pycache__/gauss_newton_solver.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/__pycache__/gauss_newton_solver.cpython-310.pyc -------------------------------------------------------------------------------- /chapter3/__pycache__/gauss_newton_solver.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/__pycache__/gauss_newton_solver.cpython-38.pyc -------------------------------------------------------------------------------- /chapter3/__pycache__/point_cloud_utils.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/__pycache__/point_cloud_utils.cpython-310.pyc -------------------------------------------------------------------------------- /chapter3/__pycache__/point_cloud_utils.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/__pycache__/point_cloud_utils.cpython-38.pyc -------------------------------------------------------------------------------- /chapter3/__pycache__/point_to_plane_icp.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/__pycache__/point_to_plane_icp.cpython-310.pyc -------------------------------------------------------------------------------- /chapter3/__pycache__/point_to_plane_icp.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/__pycache__/point_to_plane_icp.cpython-38.pyc -------------------------------------------------------------------------------- /chapter3/__pycache__/run_sequential_local_mapping.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/__pycache__/run_sequential_local_mapping.cpython-310.pyc -------------------------------------------------------------------------------- /chapter3/__pycache__/run_sequential_local_mapping.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/__pycache__/run_sequential_local_mapping.cpython-38.pyc -------------------------------------------------------------------------------- /chapter3/__pycache__/se3_utils.cpython-310.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/__pycache__/se3_utils.cpython-310.pyc -------------------------------------------------------------------------------- /chapter3/__pycache__/se3_utils.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/__pycache__/se3_utils.cpython-38.pyc -------------------------------------------------------------------------------- /chapter3/data/00000.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00000.pcd -------------------------------------------------------------------------------- /chapter3/data/00001.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00001.pcd -------------------------------------------------------------------------------- /chapter3/data/00002.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00002.pcd -------------------------------------------------------------------------------- /chapter3/data/00003.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00003.pcd -------------------------------------------------------------------------------- /chapter3/data/00004.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00004.pcd -------------------------------------------------------------------------------- /chapter3/data/00005.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00005.pcd -------------------------------------------------------------------------------- /chapter3/data/00006.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00006.pcd -------------------------------------------------------------------------------- /chapter3/data/00007.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00007.pcd -------------------------------------------------------------------------------- /chapter3/data/00008.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00008.pcd -------------------------------------------------------------------------------- /chapter3/data/00009.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00009.pcd -------------------------------------------------------------------------------- /chapter3/data/00010.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/data/00010.pcd -------------------------------------------------------------------------------- /chapter3/gauss_newton_solver.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/gauss_newton_solver.py -------------------------------------------------------------------------------- /chapter3/point_cloud_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/point_cloud_utils.py -------------------------------------------------------------------------------- /chapter3/point_to_plane_icp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/point_to_plane_icp.py -------------------------------------------------------------------------------- /chapter3/run_sequential_local_mapping.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/run_sequential_local_mapping.py -------------------------------------------------------------------------------- /chapter3/se3_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/se3_utils.py -------------------------------------------------------------------------------- /chapter3/visualize_sequential_mapping.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/chapter3/visualize_sequential_mapping.py -------------------------------------------------------------------------------- /odom.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/93won/lidar_odometry_for_beginner/HEAD/odom.png --------------------------------------------------------------------------------