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koide3 · Jul 16, 2024 · 95b8dce · 95b8dce
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+# New SLAM package is released
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+A new 3D SLAM package is released: https://github.com/koide3/glim.
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 # hdl_graph_slam
 ***hdl_graph_slam*** is an open source ROS package for real-time 6DOF SLAM using a 3D LIDAR. It is based on 3D Graph SLAM with NDT scan matching-based odometry estimation and loop detection. It also supports several graph constraints, such as GPS, IMU acceleration (gravity vector), IMU orientation (magnetic sensor), and floor plane (detected in a point cloud). We have tested this package with Velodyne (HDL32e, VLP16) and RoboSense (16 channels) sensors in indoor and outdoor environments.