LIVOX-CAM is a visual-assisted LiDAR odometry system based on KISS-ICP, designed specifically for small field-of-view (FoV) solid-state LiDAR sensors. The system features a two-stage architecture:

1. Front-end Module: Data pre-processing and fusion.
2. Back-end Module: Coarse-to-fine iterative pose optimization.

LIVOX-CAM is optimized for stability in various challenging environments, including:

• Autonomous Driving
• Unstructured Environments
• Handheld Scenarios
• Degenerate Scenarios
• High-altitude Mapping Tasks

📌Dataset	Demo
Garden Dataset
Geode Dataset
M3DGR Dataset
MARS-LVIG Dataset
SEU Dataset
📌Challenging Scenarios	Demo
Tunnel-degraded Scenarios
High-altitude Degraded Scenarios
Dark Scene

• Operating System: Ubuntu 20.04
• ROS Version: ROS Noetic

1. Livox SDK

   cd livox_sdk/build
   cmake ..
   make -j8
   sudo make install

2. fmt

   cd fmt/build
   cmake ..
   make -j8
   sudo make install

3. Eigen

   cd eigen/build
   cmake ..
   make -j8
   sudo make install

4. Sophus

   sudo apt-get install ros-noetic-sophus

5. Ceres Solver

   sudo apt-get install libceres-dev

6. PCL (Point Cloud Library)

   sudo apt install libpcl-dev
   sudo apt install pcl-tools

7. OpenCV

   sudo apt install libopencv-dev python3-opencv

8. Other Dependencies

   sudo apt-get install ros-noetic-tf2-sensor-msgs
   sudo apt-get install ros-noetic-eigen-conversions
   sudo apt-get install liboctomap-dev
   sudo apt install ros-noetic-octomap ros-noetic-octomap-rviz

git clone https://github.com/your-repository/livox_cam.git
cd livox_cam
catkin build
source devel/setup.bash

roslaunch kiss-lv livox.launch
rosbag play your_data.bag