LiDAR SLAM Training

This training session covers how to get started with LiDAR SLAM. 

 In the morning, various theoretical approaches to SLAM will be discussed. The state of the art algorithms will be briefly presented while an in-depth explanation of the Kitware SLAM pipeline will be provided. This theoretical foundation will be connected to the existing library code.

 In the afternoon, attention will be directed towards the Kitware ROS wrapper. This component enables the algorithm’s online application or usage with PCAP/rosbag files, offering visual feedback. Participants will gain insights into the parameters, modes, and additional tools through tutorials.

Objectives

  1. Discover the LiDAR SLAM ecosystem,
  2. Discover the tools to use the Kitware LiDAR SLAM and its features,
  3. Practice mapping and localization on real data.

Prerequisites

  • C++: basic knowledge
  • Point cloud algorithms: basic knowledge would be a plus
  • ROS: basic knowledge

    Program

    • SLAM basics
        • LiDAR sensor/data description
        • Point cloud registration
        • SLAM : aims, classic approaches
        • Quiz
      • Kitware SLAM algorithm : front end
        • Full description of internal behaviour
        • Parameters explanation with tuning tips
        • Outputs management
        • External sensors integration
        • Limits
        • Quiz
      • Kitware SLAM algorithm : back end
        • Pose graph optimization basics
        • Modes and parameters explanation with tuning tips
        • Limits
        • Quiz
      • Getting started with ROS wrapper through tutorials
        • Packages description
        • Installation
        • Configuration
        • Launch
        • Services/Commands
        • Visualization

    This training course will be taught in English. Course notes are also in English.
    Participants are asked to bring a laptop computer for this training session.
    The instructor will communicate all the specifications required to each participants before the training session.

    Kitware SAS is registered as a training center in France

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    Practical Information

    Duration: 1 day
    Next training Date: October 29, 2024
    Time zone: Paris (CET / GMT+1h)
    Schedule: 9am to 5pm
    Location: Online
    Price: 800€

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    Meet the instructor

    Julia Sanchez has integrated Kitware Europe in October 2020 as a developer in the Vision team.

    Julia has a PHD from the Lyon 1 University in computer science. Her thesis was oriented towards automation of buildings 3D reconstruction from dense Lidar point clouds. She also obtained a double MSc degree in engineering from the INSA Lyon school in France and the Lyon 1 University. 

    At Kitware, Julia has been working as an R&D engineer on numerous robotic projects and LidarView based applications. She is notably in charge of the open source Kitware SLAM library.