• Stars
    star
    617
  • Rank 72,724 (Top 2 %)
  • Language
    C++
  • License
    MIT License
  • Created almost 6 years ago
  • Updated about 5 years ago

Reviews

There are no reviews yet. Be the first to send feedback to the community and the maintainers!

Repository Details

Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

Fiesta

Incremental ESDF Map for motion planning

Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance_ and gradient information against obstacles. Fast incrementally built ESDF map is the bottleneck for conducting real-time motion planning. In this paper, we investigate this problem and propose a mapping system called Fiesta to build global ESDF map incrementally. By introducing two independent updating queues for inserting and deleting obstacles separately, and using Indexing Data Structures and Doubly Linked Lists for map maintenance, our algorithm updates as few as possible nodes using a BFS framework. Our ESDF map has high computational performance and produces near-optimal results. We show our method outperforms other up-to-date methods in term of performance and accuracy by both theory and experiments. We integrate Fiesta into a completed quadrotor system and validate it by both simulation and onboard experiments. We release our method as open-source software for the community.

The paper of this method is submitted to the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019). The draft is shown on arxiv here.

Fiesta short introduction video

Installation

Required Library

  • Eigen3
  • PCL 1.7
  • OpenCV
  • ROS

Note: C++ 17 is required to run FIESTA. Please install and configure C++ 17.

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install gcc-7 g++-7

use the following command to check your gcc compilers

$ ls -lh /usr/bin/g++*

for ubuntu 14.04:

$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.8 60 --slave /usr/bin/g++ g++ /usr/bin/g++-4.8

for ubuntu 16.04:

$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5

then

$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 70 --slave /usr/bin/g++ g++ /usr/bin/g++-7

use the folling command to change the default compiler (choose 0 as default)

$ sudo update-alternatives --config gcc

check your current gcc compiler

$ gcc --version

Download & Compile

cd ~/catkin_ws/src
git clone https://github.com/hlx1996/Fiesta.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

Usage example

roslaunch fiesta cow_and_lady.launch
rosbag play data.bag

Cow and lady data set can be downloaded here. A rviz will be opened with the visualization of occupancy grid map and a slice of esdf map.

_For more examples, usage and FAQ, please refer to the Wiki.

Release History

Prediction: 1.0.0 will be our first elegant version.

  • 0.6.0
    • CHANGE: Refactor code according Google C++ Code Style
  • 0.5.3
    • CHANGE: Improve the performance of the depth conversion process
  • 0.5.2
    • ADD: Support local map
    • ADD: Support raw depth image as input, and depth filter of consistency
  • 0.5.1
    • CHANGE: Improve performance of raycasting a lot
  • 0.5.0
    • ADD: Give Local / global update / visualization options
    • ADD: Show Performance visualization directly on rviz
    • CHANGE: Deprecate older visualization, will be deleted in next release
  • 0.4.1
    • CHANGE: Give better Visualization based on a slice of ESDF and pointcloud of obstacles
  • 0.4.0
    • ADD: Support LIDAR Input
    • ADD: Support Deterministic Occupancy Grid Map
  • 0.3.2
    • ADD: Implement Multi-thread Raycasting for array implementation
  • 0.3.1
    • ADD: Implement Hash table with blocks
  • 0.3.0
    • ADD: Implement Hash table
  • 0.2.0
    • ADD: Support Raycasting from point cloud_
    • ADD: Support Probabilistic Occupancy Grid Map Fusion
    • CHANGE: Patch code for limited observations
  • 0.1.0
    • The first proper release, support ESDF for fully dynamic case and implemented in array
  • 0.0.1
    • Support ESDF for insert-only case

Meta

hlx1996 – [email protected]

Distributed under the MIT license. See LICENSE for more information.

Contributing

  1. Fork it (https://github.com/hlx1996/Fiesta/fork)
  2. Create your feature branch (git checkout -b feature/fooBar)
  3. Commit your changes (git commit -am 'Add some fooBar')
  4. Push to the branch (git push origin feature/fooBar)
  5. Create a new Pull Request

More Repositories

1

VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
C++
4,967
star
2

VINS-Fusion

An optimization-based multi-sensor state estimator
C++
3,181
star
3

Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
C++
2,433
star
4

A-LOAM

Advanced implementation of LOAM
C++
1,957
star
5

VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones
C++
1,269
star
6

Teach-Repeat-Replan

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments
C++
951
star
7

GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.
C++
882
star
8

FUEL

An Efficient Framework for Fast UAV Exploration
C++
744
star
9

Stereo-RCNN

Code for 'Stereo R-CNN based 3D Object Detection for Autonomous Driving' (CVPR 2019)
Python
690
star
10

DenseSurfelMapping

This is the open-source version of ICRA 2019 submission "Real-time Scalable Dense Surfel Mapping"
C++
661
star
11

EPSILON

C++
493
star
12

ESVO

This repository maintains the implementation of "Event-based Stereo Visual Odometry".
C++
408
star
13

Btraj

Bezier Trajectory Generation for Autonomous Quadrotor, ICRA 2018
C++
407
star
14

grad_traj_optimization

Gradient-Based Online Safe Trajectory Generator
C++
363
star
15

MonoLaneMapping

Online Monocular Lane Mapping Using Catmull-Rom Spline (IROS 2023)
Python
349
star
16

open_quadtree_mapping

This is a monocular dense mapping system corresponding to IROS 2018 "Quadtree-accelerated Real-time Monocular Dense Mapping"
Cuda
347
star
17

MVDepthNet

This repository provides PyTorch implementation for 3DV 2018 paper "MVDepthNet: real-time multiview depth estimation neural network"
Python
305
star
18

D2SLAM

$D^2$SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm
Jupyter Notebook
277
star
19

OmniNxt

[IROS 2024 Oral] A Fully Open-source and Compact Aerial Robot with Omnidirectional Visual Perception
255
star
20

G3Reg

A fast and robust global registration library for outdoor LiDAR point clouds.
C++
200
star
21

GVINS-Dataset

A dataset containing synchronized visual, inertial and GNSS raw measurements.
C++
197
star
22

Nxt-FC

Mini PX4 for UAV Group
Shell
187
star
23

Omni-swarm

A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swar.
Jupyter Notebook
179
star
24

spatiotemporal_semantic_corridor

Implementation of the paper "Safe Trajectory Generation For Complex Urban Environments Using Spatio-temporal Semantic Corridor".
C++
160
star
25

PredRecon

[ICRA 2023] A Prediction-boosted Planner for Fast and High-quality Autonomous Aerial Reconstruction
C++
156
star
26

FC-Planner

[ICRA 2024 Best UAV Paper Award Finalist] An Efficient Gloabl Planner for Aerial Coverage
C++
155
star
27

eudm_planner

Implementation of the paper "Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching".
C++
139
star
28

mockamap

a simple map generator based on ROS
C++
133
star
29

DSP

Trajectory Prediction with Graph-based Dual-scale Context Fusion
Python
132
star
30

pointcloudTraj

Trajectory generation on point clouds
C++
128
star
31

Pagor

Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap (IROS 2023)
C++
127
star
32

Flow-Motion-Depth

This is the project page of the paper "Flow-Motion and Depth Network for Monocular Stereo and Beyond''
Python
114
star
33

gnss_comm

Basic definitions and utility functions for GNSS raw measurement processing
C++
111
star
34

SIMPL

SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Driving
Python
107
star
35

VINS-kidnap

a place recognition system for VINS-fusion
105
star
36

ublox_driver

A driver for u-blox receiver (ZED-F9P) with ros support
C++
102
star
37

TopoTraj

A robust UAV local planner based on the ICRA2020 paper: Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths
90
star
38

TimeOptimizer

Optimal Time Allocation for Quadrotor Trajectory Generation
C++
83
star
39

AutoTrans

AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportation.
C++
76
star
40

LiDAR-Registration-Benchmark

LiDAR-based 3D global registration benchmark.
Python
75
star
41

Pinhole-Fisheye-Mapping

70
star
42

UniQuad

UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application
67
star
43

IMPACTOR

Impact-Aware Planning and Control for Aerial Robots with Suspended Payloads
C
67
star
44

SLABIM

An open-sourced SLAM dataset that couples with BIM (Building Information Modeling).
Python
66
star
45

HKUST-ELEC5660-Introduction-to-Aerial-Robotics

Repo for HKUST ELEC5660 Course Notes & Lab Tutorial & Project Docker
C++
57
star
46

EMSGC

This repository maintains the implementation of the paper "Event-based Motion Segmentation withSpatio-Temporal Graph Cuts".
C++
56
star
47

VINS-Fisheye

Fisheye version of VINS-Fusion
C++
52
star
48

GeometricPretraining

This is the code base for paper ``Geometric Pretraining for Monocular Depth Estimation``, the paper is currently under review. The preprint will be available when it is ready.
49
star
49

APACE

APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights (ICRA2024)
C++
37
star
50

plan_utils

Some useful pkgs for running planning simulation.
Makefile
29
star
51

edge_alignment

Clone of https://github.com/mpkuse/edge_alignment
C++
26
star
52

mockasimulator

C++
21
star
53

probabilistic_mapping

Probabilistic Dense Mapping
C++
19
star
54

swarm_gcs

Ground Station Software for aerial robots.
JavaScript
18
star
55

stTraj

Spatial-temporal Trajectory Planning for UAV Teach-and-Repeat
15
star
56

MASSTAR

A Multi-modal Large-scale Scene Dataset and A Versatile Toolchain for Scene Prediction
13
star
57

SLIM

7
star
58

mockacam

Camera package of mocka WFB
C++
3
star
59

RI_Mocap

Mocap device driver of RI
C++
1
star