chennuo0125-HIT/LIO-SAM_based_relocalization

A simple system that can relocalize a robot on a built map is developed in this system. The system is based on LIO-SAM.

What it solves

This project provides a way for a robot to find its location (relocalize) within a previously built and saved map, building upon the LIO-SAM framework.

How it works

The system uses a modified version of LIO-SAM (without GPS fusion) to match current sensor data against a saved map. Users must provide an initial guess of the robot's position via Rviz during the initialization stage to help the system align itself.

Who it’s for

Developers and robotics researchers working with LiDAR-Inertial Odometry (LIO) who need their robots to operate in known environments using pre-existing maps.

Highlights

  • Based on the LIO-SAM framework
  • Supports relocalization in pre-built maps
  • Integration with ROS (Robot Operating System) and Rviz for manual initialization

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