On-SE(2) Localization and Mapping for Ground Vehicles by Fusing Odometry and Vision
Fan Zheng, Yun-Hui Liu. "Visual-Odometric Localization and Mapping for Ground Vehicles Using SE(2)-XYZ Constraints". Proc. IEEE International Conference on Robotics and Automation (ICRA), 2019 [pdf] [poster]
To cite it in bib:
@inproceedings{fzheng2019icra,
author = {Fan Zheng and Yun-Hui Liu},
title = "{Visual-Odometric Localization and Mapping for Ground Vehicles Using SE(2)-XYZ Constraints}",
booktitle = {Proc. IEEE Int. Conf. Robot. Autom (ICRA)},
year = {2019},
}
ROS (tested on Kinetic/Melodic)
OpenCV 2.4.x / 3.1 above
g2o (2016 version)
Build this project as a ROS package
Download DatasetRoom.zip, and extract it. In a terminal, cd
into DatasetRoom/
.
We prepare two packages of odometry measurement data, one is more accurate (odo_raw_accu.txt
), the other less accurate (odo_raw_roug.txt
). To use either one of them, copy it to odo_raw.txt
in DatasetRoom/
.
Download ORBvoc.bin.
Run rviz:
roscd se2lam
rosrun rviz rviz -d rviz.rviz
Run se2lam:
rosrun se2lam test_vn PATH_TO_DatasetRoom PATH_TO_ORBvoc.bin
izhengfan/se2clam
izhengfan/ORB_SLAM2