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https://github.com/DanielaEsparza/STDyn-SLAM
STDyn-SLAM: A Stereo Vision and Semantic Segmentation Approach for SLAM in Dynamic Outdoor Environments
https://github.com/DanielaEsparza/STDyn-SLAM
Last synced: 2 months ago
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STDyn-SLAM: A Stereo Vision and Semantic Segmentation Approach for SLAM in Dynamic Outdoor Environments
- Host: GitHub
- URL: https://github.com/DanielaEsparza/STDyn-SLAM
- Owner: DanielaEsparza
- License: gpl-3.0
- Created: 2020-07-14T00:40:04.000Z (almost 4 years ago)
- Default Branch: master
- Last Pushed: 2021-11-11T19:39:32.000Z (over 2 years ago)
- Last Synced: 2024-01-21T04:57:59.062Z (5 months ago)
- Language: C++
- Size: 266 KB
- Stars: 53
- Watchers: 2
- Forks: 10
- Open Issues: 5
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Lists
- awesome-mobile-robotics - STDyn-SLAM
README
# STDyn-SLAM
STDyn-SLAM: A Stereo Vision and Semantic Segmentation Approach for SLAM in Dynamic Outdoor Environments
**Authors:** Daniela Esparza and Gerardo Flores.
# License
STDyn-SLAM released under a [GPLv3 license](https://github.com/DanielaEsparza/STDyn-SLAM/blob/master/LICENSE)
# Video
[](https://www.youtube.com/watch?v=3tnkwvRnUss)
# Install
## Prerequisites
The necessary prerequisites are found in [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2) and DS-SLAM(https://github.com/ivipsourcecode/DS-SLAM):
- Pangolin
- OpenCV
- Eigen3
- DBoW2 and g2o
- ROS
- SegNet
- OctoMap and RVIZ
### SegNet
Download and compile the SegNet package in /Examples/ROS/ORB_SLAM2_PointMap_SegNetM (https://github.com/TimoSaemann/caffe-segnet-cudnn5).
You also can download a new version of SegNet from (https://github.com/navganti/caffe-segnet-cudnn7). But you have to modify the root of SegNet in the CmakeLists.txt from /STDyn-SLAM, STDyn-SLAM/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/ and STDyn-SLAM/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/libsegmentation
### OctoMap
You have to create a catkin workspace and download the OctoMap in /src
## Building STDyn-SLAM
Change the name of the catkin workspace to yours.
```
cd catkin_ws/src
git clone https://github.com/DanielaEsparza/STDyn-SLAM
cd STDyn-SLAM
chmod +x BUILD.sh
./BUILD.sh
```
# Run
Before executing, please run the next in the terminal. Modify ROOT_PATH by your container folder of STDyn-SLAM.
```
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:ROOT_PATH/STDyn-SLAM/Examples/ROS/ORB_SLAM2_PointMap_SegNetM
```
## Real-Time Stereo
Execute the ros package of the stereo camera, modify the [STEREO_RealTime.launch](https://github.com/DanielaEsparza/STDyn-SLAM/blob/master/STEREO_RealTime.launch)
```
cd src/STDyn-SLAM
roslaunch STEREO_RealTime.launch
```
## KITTI Dataset
Modify the KITTI Dataset path in the KITTI.launch
```
cd src/STDyn-SLAM
roslaunch KITTI.launch
```
## Own Sequence
Modify the path of your sequence in the PATH.launch
```
cd src/STDyn-SLAM
roslaunch PATH.launch
```