On-SE(2) Localization and Mapping for Ground Vehicles by Fusing Odometry and Vision
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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]
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}, }
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ROS (tested on Kinetic/Melodic)
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OpenCV 2.4.x / 3.1 above
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g2o (2016 version)
Build this project as a ROS package
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Download DatasetRoom.zip, and extract it. In a terminal,
cdintoDatasetRoom/.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 toodo_raw.txtinDatasetRoom/. -
Download ORBvoc.bin.
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Run rviz:
roscd se2lam rosrun rviz rviz -d rviz.rviz -
Run se2lam:
rosrun se2lam test_vn PATH_TO_DatasetRoom PATH_TO_ORBvoc.bin