{"id":13528537,"url":"https://github.com/izhengfan/se2lam","last_synced_at":"2025-04-01T13:33:04.548Z","repository":{"id":44395281,"uuid":"173700582","full_name":"izhengfan/se2lam","owner":"izhengfan","description":"(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping","archived":false,"fork":false,"pushed_at":"2024-06-04T09:01:55.000Z","size":1211,"stargazers_count":404,"open_issues_count":3,"forks_count":108,"subscribers_count":17,"default_branch":"master","last_synced_at":"2024-11-02T14:35:45.567Z","etag":null,"topics":["g2o","graph-optimization","icra","icra2019","robotics","ros","slam","state-estimation","visual-slam"],"latest_commit_sha":null,"homepage":"https://github.com/izhengfan/se2lam","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/izhengfan.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":"2019-03-04T08:05:07.000Z","updated_at":"2024-09-11T07:28:31.000Z","dependencies_parsed_at":"2024-11-02T14:31:54.086Z","dependency_job_id":"9fa503c4-2491-4796-ac13-df35b72bb4f0","html_url":"https://github.com/izhengfan/se2lam","commit_stats":{"total_commits":31,"total_committers":4,"mean_commits":7.75,"dds":"0.16129032258064513","last_synced_commit":"fab42cd2a28fac1b6a5155ffdf6c454833d66eb9"},"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/izhengfan%2Fse2lam","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/izhengfan%2Fse2lam/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/izhengfan%2Fse2lam/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/izhengfan%2Fse2lam/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/izhengfan","download_url":"https://codeload.github.com/izhengfan/se2lam/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":246647791,"owners_count":20811386,"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":["g2o","graph-optimization","icra","icra2019","robotics","ros","slam","state-estimation","visual-slam"],"created_at":"2024-08-01T07:00:20.869Z","updated_at":"2025-04-01T13:33:03.974Z","avatar_url":"https://github.com/izhengfan.png","language":"C++","funding_links":[],"categories":["2. Visual SLAM","Localization and State Estimation"],"sub_categories":["2.5 Others","Lidar and Point Cloud Processing"],"readme":"se2lam\n---\nOn-SE(2) Localization and Mapping for Ground Vehicles by Fusing Odometry and Vision\n\n[![](../../workflows/Build/badge.svg)](../../actions?query=workflow%3A\"Build\")\n\n### Related Publication\n\n- 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](https://fzheng.me/icra/2019.pdf)\\] \\[[poster](poster_fzheng.pdf)\\]\n\n  To cite it in bib:\n  ```\n  @inproceedings{fzheng2019icra,\n      author    = {Fan Zheng and Yun-Hui Liu},\n      title     = \"{Visual-Odometric Localization and Mapping for Ground Vehicles Using SE(2)-XYZ Constraints}\",\n      booktitle = {Proc. IEEE Int. Conf. Robot. Autom (ICRA)},\n      year      = {2019},\n  }\n  ```\n\n  [![result in rviz](https://images.gitee.com/uploads/images/2019/0304/152353_36314cbb_874043.jpeg)](https://mycuhk-my.sharepoint.com/:v:/g/personal/1155051778_link_cuhk_edu_hk/EeIO3MJtH5pHsFkIRGHJbLEBRhRBGRRG6pwR19SFCrhQwQ?e=vbSLzS)\n\n### Dependencies\n\n- ROS (tested on Kinetic/Melodic)\n\n- OpenCV 2.4.x / 3.1 above\n\n- g2o ([2016 version](https://github.com/RainerKuemmerle/g2o/releases/tag/20160424_git))\n\n### Build\n\nBuild this project as a ROS package\n\n### Demo\n\n1. Download [DatasetRoom.zip](https://mycuhk-my.sharepoint.com/:u:/g/personal/1155051778_link_cuhk_edu_hk/Ef4NuXvLZI1JhfljH9LkNxUB5xrDrCOrRnxwztO5bGKlew?e=U4aind), and extract it. In a terminal, `cd` into `DatasetRoom/`.\n\n   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 to `odo_raw.txt` in `DatasetRoom/`.\n\n2. Download [ORBvoc.bin](https://mycuhk-my.sharepoint.com/:u:/g/personal/1155051778_link_cuhk_edu_hk/EaF2ZkP17rdJrUHT0mrcf74Bl1h_691xZrxNILGbQbYFmA?e=nXRSS4).\n\n3. Run rviz:\n\n   ```\n   roscd se2lam\n   rosrun rviz rviz -d rviz.rviz\n   ```\n\n4. Run se2lam:\n   \n   ```\n   rosrun se2lam test_vn PATH_TO_DatasetRoom PATH_TO_ORBvoc.bin\n   ```\n   \n### Related Project\n\n[izhengfan/se2clam](https://github.com/izhengfan/se2clam)  \n[izhengfan/ORB_SLAM2](https://github.com/izhengfan/ORB_SLAM2)\n\n### License \n\n[MIT](LICENSE)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fizhengfan%2Fse2lam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fizhengfan%2Fse2lam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fizhengfan%2Fse2lam/lists"}