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

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License

BSD License

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LaMa Web Site

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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