This is an unofficial demonstrative implentation of Wildcat SLAM which is described in the following paper:
@article{ramezani2022wildcat,
title={Wildcat: Online continuous-time 3d lidar-inertial slam},
author={Ramezani, Milad and Khosoussi, Kasra and Catt, Gavin and Moghadam, Peyman and Williams, Jason and Borges, Paulo and Pauling, Fred and Kottege, Navinda},
journal={arXiv preprint arXiv:2205.12595},
year={2022}
}
Recommend: Ubuntu 20.04 and ROS Noetic.
Ceres Solver
sudo apt install libceres-devPCL
sudo apt install libpcl-devfmt
sudo apt install libfmt-devlibbenchmark-dev
sudo apt install libbenchmark-devprotobuf
sudo apt install protobuf-compilerClone the repository and catkin_make.
GPLv3.