LOAM feature threshold

LOAM feature threshold

LOAM feature threshold

LOAM feature threshold

voxel filter paprams; # default: 0.4 - outdoor, 0.2 - indoor

voxel filter paprams; # default: 0.2 - outdoor, 0.1 - indoor

voxel filter paprams; # default: 0.4 - outdoor, 0.2 - indoor

obot motion constraint (in case you are using a 2D robot); # meters

robot motion constraint (in case you are using a 2D robot); radians

CPU Params; # number of cores for mapping optimization

CPU Params; # seconds, regulate mapping frequency

Surrounding map;# meters, regulate keyframe adding threshold

Surrounding map;# radians, regulate keyframe adding threshold

Surrounding map;# meters, downsample surrounding keyframe poses

Surrounding map;# meters, within n meters scan-to-map optimization (when loop closure disabled)

Hz, regulate loop closure constraint add frequency

constraint add frequency; # submap size (when loop closure enabled)

constraint add frequency; # meters, key frame that is within n meters from current pose will be considerd for loop closure

constraint add frequency; # seconds, key frame that is n seconds older will be considered for loop closure

constraint add frequency; # number of hostory key frames will be fused into a submap for loop closure

constraint add frequency; # icp threshold, the smaller the better alignment

# m^2, threshold for using GPS data

# m^2, threshold for using GPS data

# default: 1. Downsample your data if too many points. i.e., 16 = 64 / 4, 16 = 16 / 1

NoiseGyro

NoiseAcc

GyroWalk

AccWalk

gravity

remap

remap

lio-sam

lio-sam

Loop closure

Navsat (convert GPS coordinates to Cartesian)

Navsat (convert GPS coordinates to Cartesian)

Navsat (convert GPS coordinates to Cartesian)

Navsat (convert GPS coordinates to Cartesian)

Navsat (convert GPS coordinates to Cartesian)

Navsat (convert GPS coordinates to Cartesian)

Navsat (convert GPS coordinates to Cartesian)

Navsat (convert GPS coordinates to Cartesian)

Navsat (convert GPS coordinates to Cartesian)

EKF for Navsat

EKF for Navsat

EKF for Navsat

EKF for Navsat

# if using GPS data, set to "true"; # if GPS elevation is bad, set to "false"

# lidar sensor type, 'velodyne' or 'ouster' or 'livox'

# number of lidar channel (i.e., Velodyne/Ouster: 16, 32, 64, 128, Livox Horizon: 6)

# lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048, Livox Horizon: 4000)

# default: 1.0, minimum lidar range to be used

# default: 1000.0, maximum lidar range to be used

lio-sam

lio-sam

lio-sam

lio-sam

remap

frequency of Lidar data

frequency of imu data

Save the mapping result.
0: don't save;
1: save.