I am always on the look-out for new compute efficient SLAM algorithms. To that end I collect interesting open-source implementations of SLAM algorithms in a bookmark folder aptly called “SLAM”. By now this folder contains more than 30 entries.
Recently my LinkedIn feed brought the 93won/lidar_odometry project by Seungwon Choi to my attention. I’ve decided to give it a try and run it within a Gazebo simulation in combination with the L4XZ hexapod robot autonomy stack. The following video shows the robot exploring a simulated subway station while maintaining a fairly accurate position estimation and local map.
