• Stars
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    223
  • Rank 178,458 (Top 4 %)
  • Language
    C++
  • Created almost 3 years ago
  • Updated about 2 years ago

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Repository Details

DiSCo-SLAM

DiSCo-SLAM is a novel framework for distributed, multi-robot SLAM intended for use with 3D LiDAR observations. The framework is the first to use the lightweight Scan Context descriptor for multi-robot SLAM, permitting a data-efficient exchange of LiDAR observations among robots. Additionally, our framework includes a two-stage global and local optimization framework for distributed multi- robot SLAM which provides stable localization results that are resilient to the unknown initial conditions that typify the search for inter-robot loop closures.

  • Here we provide a distributed multi-robot SLAM example for 3 robots, intended for use with the two datasets provided below.
  • The local SLAM used in our project is LIO-SAM, please download the modified version of LIO-SAM, and add the DiSCo-SLAM folder into LIO-SAM\src.
 β”œβ”€β”€LIO-SAM
    β”œβ”€β”€ ...
    β”œβ”€β”€ src                    
    β”‚   β”œβ”€β”€ ...           
    β”‚   └── DiSCo-SLAM                # Folder for multi-robot SLAM
    └── ...
git clone https://github.com/yeweihuang/LIO-SAM.git
cd LIO-SAM/src
git clone [email protected]:RobustFieldAutonomyLab/DiSCo-SLAM.git
  • Code from Scan Context is used for feature description.
  • We use code from PCM for outlier detection.

Dependencies

Datasets

To run the KITTI08 dataset, change line 9 & 10 in launch/run.launch from

<rosparam file="$(find lio_sam)/config/params.yaml" command="load" />
<rosparam file="$(find lio_sam)/src/DiSCo-SLAM/config/mapfusion.yaml" command="load"/>

to

<rosparam file="$(find lio_sam)/config/params_k.yaml" command="load" />
<rosparam file="$(find lio_sam)/src/DiSCo-SLAM/config/mapfusion_k.yaml" command="load"/>

How to use

cd ~/catkin_ws/src
git clone 
cd ..
catkin_make
roslaunch lio_sam run.launch
rosbag play your_bag_name.bag

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