https://github.com/RobustFieldAutonomyLab/DiSCo-SLAM

https://github.com/RobustFieldAutonomyLab/DiSCo-SLAM

Last synced: 2 months ago
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• Host: GitHub
• URL: https://github.com/RobustFieldAutonomyLab/DiSCo-SLAM
• Owner: RobustFieldAutonomyLab
• Created: 2021-11-29T21:05:44.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2022-10-12T19:13:08.000Z (over 1 year ago)
• Last Synced: 2024-01-21T04:58:25.116Z (5 months ago)
• Language: C++
• Size: 1.17 MB
• Stars: 189
• Watchers: 10
• Forks: 29
• Open Issues: 9
• Metadata Files:
  • Readme: README.md

Lists

• awesome-mobile-robotics - DiSCo-SLAM - robot SLAM intended for use with 3D LiDAR observations (Softwares and Libraries)

README

        
# 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](https://github.com/TixiaoShan/LIO-SAM), please download [the modified version of LIO-SAM](https://github.com/yeweihuang/LIO-SAM.git), and add the DiSCo-SLAM folder into ```LIO-SAM\src```.

 ```

  ├──LIO-SAM

     ├── ...

     ├── src                    

     │   ├── ...           

     │   └── 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](https://github.com/irapkaist/scancontext) is used for feature description.

- We use code from [PCM](https://github.com/lajoiepy/robust_distributed_mapper/tree/d609f59658956e1b7fe06c786ed7d07776ecb426/cpp/src/pairwise_consistency_maximization) 

for outlier detection.

## Dependencies

- Same dependencies as [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM):

  - [ROS Melodic](http://wiki.ros.org/melodic#Installation)

  - [gtsam 4.0.2](https://github.com/borglab/gtsam/releases) (Georgia Tech Smoothing and Mapping library)

- Dependency for [Scan Context](https://github.com/irapkaist/scancontext):

  - [libnabo 1.0.7](https://github.com/ethz-asl/libnabo/releases)

  

## Datasets

- [The Park Dataset](https://drive.google.com/file/d/1-2zsRSB_9ORQ9WQdtUbGdoS4YXU3cBQt/view?usp=sharing)

- [KITTI 08 Dataset](https://drive.google.com/file/d/1U6z_1VHlPJa_DJ2i8VwxkKLjf5JxMo0f/view?usp=sharing)

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

  ```

  ```

to

  ```  

  ```

    

## How to use

```

cd ~/catkin_ws/src

git clone 

cd ..

catkin_make

```

```

roslaunch lio_sam run.launch

rosbag play your_bag_name.bag

```