{"id":13436010,"url":"https://github.com/PengYu-Team/Co-LRIO","last_synced_at":"2025-03-18T12:30:54.685Z","repository":{"id":196420155,"uuid":"692320301","full_name":"PengYu-Team/Co-LRIO","owner":"PengYu-Team","description":"A ROS2 package of CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms.","archived":false,"fork":false,"pushed_at":"2024-02-29T07:50:16.000Z","size":361,"stargazers_count":80,"open_issues_count":6,"forks_count":7,"subscribers_count":2,"default_branch":"master","last_synced_at":"2024-10-27T19:00:47.638Z","etag":null,"topics":["centralized","collaborative-slam","lidar-ranging-inertial"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/PengYu-Team.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-09-16T05:47:49.000Z","updated_at":"2024-10-09T02:11:42.000Z","dependencies_parsed_at":"2024-02-23T08:25:58.869Z","dependency_job_id":"abc0f0ca-6064-4b1b-b620-b97100109812","html_url":"https://github.com/PengYu-Team/Co-LRIO","commit_stats":null,"previous_names":["pengyu-team/co-lrio"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/PengYu-Team%2FCo-LRIO","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/PengYu-Team%2FCo-LRIO/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/PengYu-Team%2FCo-LRIO/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/PengYu-Team%2FCo-LRIO/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/PengYu-Team","download_url":"https://codeload.github.com/PengYu-Team/Co-LRIO/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":244222148,"owners_count":20418456,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["centralized","collaborative-slam","lidar-ranging-inertial"],"created_at":"2024-07-31T03:00:42.196Z","updated_at":"2025-03-18T12:30:54.680Z","avatar_url":"https://github.com/PengYu-Team.png","language":"C++","funding_links":[],"categories":["C++"],"sub_categories":[],"readme":"# CoLRIO\n\nA ROS2 package of CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms. \n\nhttps://github.com/PengYu-Team/Co-LRIO/assets/41199568/81985d82-983c-4eca-898b-43e8f84e7b45\n\n## Prerequisites\n  - [Ubuntu ROS2 Foxy](http://wiki.ros.org/ROS/Installation) (Robot Operating System 2 on Ubuntu 20.04)\n  - CMake (Compilation Configuration Tool)\n  - [PCL](https://pointclouds.org/downloads/linux.html) (Default Point Cloud Library on Ubuntu work normally)\n  - [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) (Default Eigen library on Ubuntu work normally)\n  - [GTSAM 4.2a8](https://github.com/borglab/gtsam/releases) (Georgia Tech Smoothing and Mapping library)\n\n## Compilation\n  Build CoLRIO:\n  ```\n  mkdir -p ~/cslam_ws/src\n  cd ~/cslam_ws/src\n  git clone https://github.com/PengYu-Team/Co-LRIO.git\n  cd ../\n  colcon build --symlink-install\n  ```\n## Run with Dataset\n  - [our dataset] TBD.\n\n  - [S3E dataset](https://github.com/PengYu-Team/S3E). The datasets are configured to run with default parameter.\n  ```\n  ros2 launch co_lrio run.launch.py\n  ros2 bag play *your-bag-path*\n  ```\n## Citation\nThis work is published in IEEE ICRA 2024 conference, and please cite related papers:\n\n```\n@misc{zhong2024colrio,\n      title={CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms}, \n      author={Shipeng Zhong and Hongbo Chen and Yuhua Qi and Dapeng Feng and Zhiqiang Chen and Jin Wu and Weisong Wen and Ming Liu},\n      year={2024},\n      eprint={2402.11790},\n      archivePrefix={arXiv},\n      primaryClass={cs.RO}\n}\n```\n\n```\n@article{feng2022s3e,\n  title={S3e: A large-scale multimodal dataset for collaborative slam},\n  author={Feng, Dapeng and Qi, Yuhua and Zhong, Shipeng and Chen, Zhiqiang and Jiao, Yudu and Chen, Qiming and Jiang, Tao and Chen, Hongbo},\n  journal={arXiv preprint arXiv:2210.13723},\n  year={2022}\n}\n```\n\n## Acknowledgement\n  - We combined the front end of CoLRIO and the [DLO](https://github.com/vectr-ucla/direct_lidar_odometry) to achieve the 5th position in the [ICCV 2023 LiDAR-Inertial SLAM Challenge](https://superodometry.com/iccv23_challenge_LiI).\n\n  The Leaderboard is shown as follow:\n  ![Leaderboard](https://github.com/PengYu-Team/Co-LRIO/assets/41199568/72168f1d-9c74-43d1-90ce-12383131f464)\n\n  And the hardware and results are shown as follow:\n  ![results table](https://github.com/PengYu-Team/Co-LRIO/assets/41199568/f75e8660-acd9-4961-8964-2e3edba1e965)\n    \n  - CoLRIO depends on [FAST-GICP](https://github.com/SMRT-AIST/fast_gicp) (Kenji Koide, Masashi Yokozuka, Shuji Oishi, and Atsuhiko Banno, \"Voxelized GICP for fast and accurate 3D point cloud registration\".).\n\n  - CoLRIO depends on [GncOptimizer](https://github.com/borglab/gtsam/blob/3a1fe574683f608759eaff4636ab53def600ce84/gtsam/nonlinear/GncOptimizer.h#L45) (Yang, Antonante, Tzoumas, Carlone, \"Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection\").\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FPengYu-Team%2FCo-LRIO","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FPengYu-Team%2FCo-LRIO","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FPengYu-Team%2FCo-LRIO/lists"}