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/ROS2 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
- Discover the LiDAR SLAM ecosystem,
- Discover the tools to use the Kitware LiDAR SLAM and its features: : LidarView and ROS/ROS2
- 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
- Limitations
- 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
- Practices for using slam with ROS wrapper and LidarView
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
Practical Information
Duration: 1 day
Next training Date: April 24, 2025
Time zone: Paris (CET / GMT+1h)
Schedule: 9am to 5pm
Location: Online
Price: 800€
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Meet the instructor
Tong is and R&D Engineer on Kitware Europe Computer Vision team.
Prior to joining Kitware, Tong was a research engineer at the LIRIS laboratory in Villeurbanne where she worked on project specilizing on 3D deformation and animation with skinning methods.
She obtained engineering degree from ENSEEIHT Toulouse (France) in 2017 and her PHD in 2021 at Université Lyon 1 and LIRIS Laboratory.
Her field of expertise covers 3D registration and skinning algorithms.