{"id":18624607,"url":"https://github.com/kumarrobotics/spomp-system","last_synced_at":"2026-01-23T22:10:02.849Z","repository":{"id":200624385,"uuid":"705695636","full_name":"KumarRobotics/spomp-system","owner":"KumarRobotics","description":null,"archived":false,"fork":false,"pushed_at":"2024-08-05T00:50:57.000Z","size":1074,"stargazers_count":42,"open_issues_count":0,"forks_count":7,"subscribers_count":8,"default_branch":"main","last_synced_at":"2025-05-13T14:35:30.127Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/KumarRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"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":"2023-10-16T14:12:54.000Z","updated_at":"2025-04-25T02:53:08.000Z","dependencies_parsed_at":null,"dependency_job_id":"90bbbd5b-9480-41c4-9a01-d16ef8898a04","html_url":"https://github.com/KumarRobotics/spomp-system","commit_stats":null,"previous_names":["kumarrobotics/spomp-system"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/KumarRobotics/spomp-system","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fspomp-system","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fspomp-system/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fspomp-system/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fspomp-system/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/KumarRobotics","download_url":"https://codeload.github.com/KumarRobotics/spomp-system/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fspomp-system/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28701043,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-23T17:25:48.045Z","status":"ssl_error","status_checked_at":"2026-01-23T17:25:47.153Z","response_time":59,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"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":[],"created_at":"2024-11-07T04:29:41.746Z","updated_at":"2026-01-23T22:10:02.831Z","avatar_url":"https://github.com/KumarRobotics.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# SPOMP: Semantic Panoramic Online Mapping and Planning\n![Docker CI Build](https://github.com/KumarRobotics/spomp-system/actions/workflows/docker-build.yaml/badge.svg?branch=main)\n\nThis is the public code repository for our work SPOMP.\nHere are all the submodules needed for the stack.\n\n## Video\n\n[\u003cimg src=\"video_thumbnail.png\"\u003e](https://www.youtube.com/watch?v=jcPOVRsdUhU)\n\n## Paper\nIEEE T-FR: [https://doi.org/10.1109/TFR.2024.3424748](https://doi.org/10.1109/TFR.2024.3424748)\narXiv: [https://doi.org/10.48550/arXiv.2407.09902](https://doi.org/10.48550/arXiv.2407.09902)\n\nCitation:\n```\n@ARTICLE{10587299,\n  author={Miller, Ian D. and Cladera, Fernando and Smith, Trey and Taylor, Camillo Jose and Kumar, Vijay},\n  journal={IEEE Transactions on Field Robotics}, \n  title={Air-Ground Collaboration with SPOMP: Semantic Panoramic Online Mapping and Planning}, \n  year={2024},\n  volume={},\n  number={},\n  pages={1-1},\n  keywords={Semantics;Laser radar;Task analysis;Planning;Robot sensing systems;Sensors;Three-dimensional displays},\n  doi={10.1109/TFR.2024.3424748}}\n```\n\n## How to run the code?\nWe provide Docker images that can be used to run this code:\n```\n# Clone and run the master docker image\ngit clone https://github.com/KumarRobotics/dcist_master.git\ncd dcist_master\n./run.bash dcist-master\n\n# Clone the repo and build\ncd user_ws\nmkdir src\ngit clone --recursive -j8 https://github.com/KumarRobotics/spomp-system.git src/spomp-system\ncatkin config --extend ~/dcist_ws/devel \u0026\u0026 catkin build -DCMAKE_BUILD_TYPE=Release\n```\n\nLaunch files for air and ground robots can be found inside `semantics_manager`.\n\n## Main modules\n\n- [semantics_manager](http://github.com/KumarRobotics/semantics_manager): Starting point for launch files and configuration management\n- [ROFL](https://github.com/versatran01/rofl-beta): LiDAR odometry\n- [SPOMP](http://github.com/KumarRobotics/spomp): Autonomy stack for UGVs.  Handles terrain analysis and global and local planning.\n- [ASOOM](http://github.com/KumarRobotics/asoom): Aerial orthomapper\n- [top_down_renderer](https://github.com/KumarRobotics/top_down_renderer): Crossview localizer\n- [air_router](https://github.com/KumarRobotics/air_router): High-level planner for UAV\n- [MOCHA](http://github.com/KumarRobotics/MOCHA): Distributed, opportunistic communication framework\n\n## Dependencies\n\n- [grid_map](https://github.com/KumarRobotics/grid_map): Fork of grid_map with resizing and compression capabilities\n- [orbslam3_ros](https://github.com/iandouglas96/orbslam3_ros/): ROS wrapper for ORBSLAM3\n- [erfnet_pytorch_ros](https://github.com/iandouglas96/erfnet_pytorch_ros): ROS wrapper for erfnet (for aerial image segmentation)\n- [rangenet_inf](https://github.com/KumarRobotics/rangenet_inf): ROS wrapper for RangeNet++ (for depth panorama segmentation)\n- [ouster_decoder](https://github.com/KumarRobotics/ouster_decoder): Ouster LiDAR driver (needed for ROFL)\n- [ORB_SLAM3](https://github.com/KumarRobotics/ORB_SLAM3): Fork of ORB_SLAM3 with loop closure deactivated.\n\n## Tools\nThese are not needed to run the stack, but may be useful.\n\n- [SILL](https://github.com/iandouglas96/sill): Depth panorama/LiDAR labelling tool\n- [rviz_textured_quads](https://github.com/lucasw/rviz_textured_quads) Useful tool for visualizing map images in rviz\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkumarrobotics%2Fspomp-system","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkumarrobotics%2Fspomp-system","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkumarrobotics%2Fspomp-system/lists"}