Iscloam

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ISCLOAM is a Research & Education tool that provides Intensity Scan Context based full SLAM implementation for autonomous driving. It offers 3D lidar-based simultaneous localization and mapping capabilities.

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At a glance

Pricing

Open Source

Free tier

Yes

API

Skill level

Technical

About

What is iscloam?

ISCLOAM is an open-source project that implements an Intensity Scan Context based Full SLAM (Simultaneous Localization And Mapping) system, specifically designed for autonomous driving applications. This work is based on the paper "Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection" presented at ICRA 2020. The system operates at 20Hz and includes both front-end and back-end SLAM components. It provides robust localization and mapping capabilities, demonstrated through evaluations on KITTI datasets with low translation and rotation errors. The project also offers options for front-end only odometry via FLOAM and supports various Velodyne sensors.

Best used for

Ideal for developers and data scientists who need to implement advanced SLAM algorithms, develop autonomous driving systems, and perform lidar odometry. Especially valuable for researchers and students working on robotics and computer vision projects requiring robust localization and mapping.

Common actions

implement SLAM

develop autonomous driving

perform lidar odometry

conduct robotics research

"AI Agents"github copilotface swappinglow-code/no-codeautomated workflowdeepfakecollaborationopen-sourceworkflows

Capabilities

Key features

3D lidar-based SLAM
Front-end SLAM
Back-end SLAM
Loop closure detection
Autonomous driving implementation
KITTI dataset evaluation

Target Audience

developerdata scientistprofessorstudent

Integrations

Not yet documented

Pricing & Plans

Open Source

Free

FAQs

What is the core technology behind ISCLOAM?

ISCLOAM is based on the "Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection" paper from ICRA 2020. It uses intensity scan context for robust loop closure detection in 3D lidar-based SLAM systems.

What are the system requirements for running ISCLOAM?

To run ISCLOAM, you need Ubuntu 64-bit 20.04 and ROS Noetic. Additionally, it requires Ceres Solver, PCL, GTSAM, and OpenCV. For trajectory visualization, hector_trajectory_server is used.

Can ISCLOAM be used with different Velodyne sensors?

Yes, ISCLOAM provides a specific launch file, `iscloam_velodyne.launch`, which is designed for use with various Velodyne sensors, including models like the Velodyne VLP-16, allowing for broader hardware compatibility.

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