MutiverseOdometry
Simple But Effective Redundant Odometry for Autonomous Vehicles
Authors: Andrzej Reinke, Xieyuanli Chen, Cyrill Stachniss
Related Papers
- Simple But Effective Redundant Odometry for Autonomous Vehicles, Andrzej Reinke, Xieyuanli Chen, Lei Tai,Cyrill Stachniss, IEEE International Conference on Robotics and Automation (ICRA) 2021. pdf
@inproceedings{reinke2021icra,
title={{Simple But Effective Redundant Odometry for Autonomous Vehicles}},
author={A. Reinke and X. Chen and C. Stachniss},
booktitle={Proc. of the IEEE Intl. Conf. on Robotics \& Automation (ICRA)},
year=2021,
url = {http://www.ipb.uni-bonn.de/pdfs/reinke2021icra.pdf}
}
1. Prerequisites
1.1 Ubuntu
The code was tested under Ubuntu 64-bit 18.04.
1.2. Open3D
Installation processhere
1.3. OpenCV 4.3
Installation process here
1.4. catkin_tools
Installation process here
2. How to run
2.1. Clone the repo
mkdir MutiverseOdometry_ws
cd MutiverseOdometry
git clone [email protected]:PRBonn/MutiverseOdometry.git
catkin build
2.1. Setup config file
Before running setup paths in demos_standalone/config/config.yaml
With the new release the parameters are read from txt kitti file
2.1.1 Odometries Here are available odometries that you can setup (in a default mode all odometries are available)
odometries:
colorbased_vlo: null
gicp_lo: null
huang_vlo:
sift:
contrastThreshold: 0.04
edgeThreshold: 10.0
nOctaveLayers: 3
nfeatures: 0
sigma: 1.6
ndt_lo: null
point2plane_lo: null
null are necessary in order to yaml work In the future relase there will be more things to play with since there will be a chance to pick matcher and feature descriptor for the image-based odometry for Huang's method (also with deep learning methods and semantic/panoptic information)
2.2. Run
Go to build/standalone/
Run (as you can see the initial name was a bit different)
./run_VLO_ComboVLO_pipeline
3 Notes/TODO:
- New release with more clean code is coming soon since this release is a cherry pick from semester master project.
- The plan is also to make it real time and ROS-based.
- Of course other research will be added on-top of this work.
4. Licence
The source code is released under GPLv3 license.
For any technical issues, please contact Andrzej Reinke [email protected] with tag [MutiverseOdometry].