├── README.md └── fig └── main.jpg /README.md: -------------------------------------------------------------------------------- 1 | # Uni-mapper 2 | [**Video**](https://www.youtube.com/watch?v=GoqtjIIt8MI) 3 | 4 | 5 | This repository is the official code of the paper: 6 | 7 | > **Uni-Mapper: Unified Mapping Framework for Multi-modal LiDARs in Complex and Dynamic Environments** 8 | > 9 | > [Gilhwan Kang](https://scholar.google.com/citations?user=F6dY8DoAAAAJ&hl=ko), [Hogyun Kim](https://scholar.google.com/citations?user=t5UEbooAAAAJ&hl=ko), [Byunghee Choi](), [Seokhwan Jeong](), [Young-Sik Shin](https://scholar.google.com/citations?user=gGfBRawAAAAJ&hl=ko)*, and [Younggun Cho](https://scholar.google.com/citations?user=W5MOKWIAAAAJ&hl=ko&oi=ao)*.
10 | > * Corresponding Authors.
11 | > 12 | > *under review for journal paper*
13 | 14 | ![main](./fig/main.jpg) 15 | 16 | ## Introduction 17 | **Uni-mapper** is a map-merging framework for multi-modal LiDARs in complex and dynamic environments. 18 | Our approach consists of three core components: dynamic object removal, dynamic-aware scene description, and multiple map alignment. A voxel-wise free space hash map is built to remove dynamic objects by combining sequential free spaces. This is integrated with a stable triangle descriptor (STD) to form DynaSTD, which preserves static points and is effective across multi-modal LiDARs. DynaSTD is used for pose graph optimizations in intra-session and inter-map loop closures, with a centralized anchor-node approach to reduce intra-session drift errors. 19 | 20 | ## Table of Contents 21 | > **__Note__** The code will be released after the paper is accepted. 22 | > 23 | > **Setup** 24 | > - Installation 25 | > - Datasets 26 | > 27 | > **Example** 28 | > - Merging multiple maps -------------------------------------------------------------------------------- /fig/main.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/sparolab/uni-mapper/3b84aef4d5dee567c2b9a9fd386cbddab56f7942/fig/main.jpg --------------------------------------------------------------------------------