Xiyue Guo, Junjie Hu, Junfeng Chen, Fuqin Deng, Tin Lun Lam, Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment, IEEE Robotics and Automation Letters, 2021. PDF.
<img src="https://github.com/gxytcrc/Semantic-Graph-based--global-Localization/blob/main/example/fengmian.png" alt="ORB-SLAM3" width="240" height="150" border="10" />
Clone the repository and catkin_make:
git clone https://https://github.com/gxytcrc/Semantic-Graph-based--global-Localization.git
mkdir build
cd build
cmake ..
make -j8
Download the dataset that is created from Airsim, and save them into the Datset . Download link: https://drive.google.com/file/d/106sPA48vFThLK0RB4WBcj-i8FZPQPmcV/view?usp=sharing.
Launch it as follows:
./mapAlignment robot1-foldername startFrameNumber endFrameNumber robot2-foldername startFrameNumber endFrameNumber
@inproceedings{XiyueGuo2021,
title={Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment},
author={Xiyue Guo, Junjie Hu, Junfeng Chen, Fuqin Deng, Tin Lun Lam},
booktitle=IEEE Robotics and Automation Letters (RA-L)},
year={2021}
}