• 设为首页
  • 点击收藏
  • 手机版
    手机扫一扫访问
    迪恩网络手机版
  • 关注官方公众号
    微信扫一扫关注
    公众号

LRMPUT/PlaneLoc: An open source project that provides a probabilistic framework ...

原作者: [db:作者] 来自: 网络 收藏 邀请

开源软件名称(OpenSource Name):

LRMPUT/PlaneLoc

开源软件地址(OpenSource Url):

https://github.com/LRMPUT/PlaneLoc

开源编程语言(OpenSource Language):

C++ 99.0%

开源软件介绍(OpenSource Introduction):

PlaneLoc

An open source project that provides a probabilistic framework for global localization using segmented planes.

Prerequesties:
-Boost
-Eigen
-PCL 1.8
-OpenCV >= 3.0
-g2o
-CGAL

Paper

If you find PlaneLoc useful in your academic work please cite the following paper:

@article{wietrzykowski2019,
    title = {{PlaneLoc}: Probabilistic global localization in {3-D} using local planar features},
    author = {Jan Wietrzykowski and Piotr Skrzypczy\'{n}ski},
    journal = {Robotics and Autonomous Systems},
    volume = {113},
    pages = {160 - 173},
    year = {2019},
    issn = {0921-8890},
    doi = {https://doi.org/10.1016/j.robot.2019.01.008},
    url = {http://www.sciencedirect.com/science/article/pii/S0921889018303701},
    keywords = {Global localization, SLAM, Planar segments, RGB-D data},
}

Building:

Tested on Ubuntu 16.04.

  1. Install Boost, Eigen, and CGAL:
sudo apt-get install libboost-system-dev libboost-filesystem-dev libeigen3-dev libcgal-dev
  1. Build PCL from sources and install it:
sudo apt-get install libvtk6-dev libflann-dev libxi-dev libxmu-dev libgtest-dev libproj-dev
wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.1.tar.gz
tar xvfj pcl-pcl-1.8.1.tar.gz && cd pcl-pcl-1.8.1
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j$(nproc)
sudo make install
  1. Build OpenCV from sources and install it:
wget https://sourceforge.net/projects/opencvlibrary/files/opencv-unix/3.1.0/opencv-3.1.0.zip
unzip opencv-3.1.0.zip && cd opencv-3.1.0
mkdir build && cd build
cmake -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install
  1. Build g2o and install it:
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install
  1. Build PlaneLoc:
mkdir build && cd build
cmake ..
make -j$(nproc)

Dataset

Dataset is available here.

Building your own maps

Accumulated representation files can be generated by setting processFrames to 1 in settings file. Map is saved in file ../output/acc/acc%05d every time new accFrames are processed, so for maps of the whole environment set accFrames to the number frames in the whole trajectory. For local maps set it to the desired length (usually 50 frames is a good compromise between the map size and the frequency of the localization). If you want to use precomputed local maps set processFrames to 0 and place generated maps in acc folder in a trajectory folder.

Launching:

  1. Adjust settings file in res/settings.yml for your dataset.
  2. Launch demo:
./demoPlaneSlam -s ../res/settings.yml



鲜花

握手

雷人

路过

鸡蛋
该文章已有0人参与评论

请发表评论

全部评论

专题导读
上一篇:
EmadBeltaje/flutter_getx_template: Create flutter project with all needed config ...发布时间:2022-08-16
下一篇:
Job-Yang/JYLocalized: 发布时间:2022-08-16
热门推荐
阅读排行榜

扫描微信二维码

查看手机版网站

随时了解更新最新资讯

139-2527-9053

在线客服(服务时间 9:00~18:00)

在线QQ客服
地址:深圳市南山区西丽大学城创智工业园
电邮:jeky_zhao#qq.com
移动电话:139-2527-9053

Powered by 互联科技 X3.4© 2001-2213 极客世界.|Sitemap