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https://github.com/MIT-SPARK/Kimera-RPGO
Robust Pose Graph Optimization
https://github.com/MIT-SPARK/Kimera-RPGO
Last synced: 2 days ago
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Robust Pose Graph Optimization
- Host: GitHub
- URL: https://github.com/MIT-SPARK/Kimera-RPGO
- Owner: MIT-SPARK
- License: bsd-2-clause
- Created: 2019-06-11T22:51:03.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2024-08-17T01:21:43.000Z (3 months ago)
- Last Synced: 2024-08-17T02:29:41.339Z (3 months ago)
- Language: C++
- Homepage:
- Size: 586 KB
- Stars: 460
- Watchers: 29
- Forks: 132
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE.BSD
Awesome Lists containing this project
README
# Kimera-RPGO: Open-Source Robust Pose Graph Optimization
**Authors:** Yun Chang, [Luca Carlone](https://lucacarlone.mit.edu/), Marcus Abate, [Antoni Rosinol](https://www.mit.edu/~arosinol/)
## Publications
We kindly ask to cite our paper if you find this library useful:
- A. Rosinol, M. Abate, Y. Chang, L. Carlone, [**Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping**](https://arxiv.org/abs/1910.02490). IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020. [arXiv:1910.02490](https://arxiv.org/abs/1910.02490).
```bibtex
@InProceedings{Rosinol20icra-Kimera,
title = {Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping},
author = {Rosinol, Antoni and Abate, Marcus and Chang, Yun and Carlone, Luca},
year = {2020},
booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
url = {https://github.com/MIT-SPARK/Kimera},
pdf = {https://arxiv.org/pdf/1910.02490.pdf}
}
```
### Related Publications
Outlier Rejection based on:
- J. Mangelson, D. Dominic, R. Eustice, and R. Vasudevan. **Pairwise Consistent Measurement Set Maximization for Robust Multi-robot Map Merging**. IEEE Intl. Conf. on Robotics and Automation (ICRA), 2018.
[Maximum Clique Finder](http://cucis.ece.northwestern.edu/projects/MAXCLIQUE/) used with slight adaptations:
- B. Pattabiraman, M. Patwary, A. Gebremedhin, W. Liao, and A. Choudhary. **Fast Algorithms for the Maximum Clique Problem on Massive Graphs with Applications to Overlapping Community Detection**, Internet Mathematics, 2014.
- B. Pattabiraman, M. Patwary, A. Gebremedhin, W. Liao, and A. Choudhary. **Fast Algorithms for the Maximum Clique Problem on Massive Sparse Graphs**, In Proceedings of the 10th Workshop on Algorithms and Models for the Web Graph, Cambridge, MA, Lecture Notes in Computer Science, Springer, vol. 8305, pp. 156-169, 2013.
## Dependencies
*[GTSAM](https://github.com/borglab/gtsam)*
Latest commit tested: `686e16aaae26c9a4f23d4af7f2d4a504125ec9c3`
(Note that the BUILD_WITH_MARCH_NATIVE flag caused some problems on some machines. )
Clone GTSAM to your preferred location:
```bash
git clone [email protected]:borglab/gtsam.git
```
Build
```bash
cd gtsam
mkdir build
cd build
cmake .. -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON
sudo make install
```
**Note:**
The reason why we need EXPMAP is for the correct calculation of Jacobians.
Enabling this and the `#define SLOW_BUT_CORRECT_BETWEENFACTOR` before any `#include ` are both important. Otherwise the default are some identity approximations for rotations, which works for some cases but fails for cases with manual loop closures, or artifacts. Note that `sudo make check` in gtsam will partially fail because some unittests assume the EXPMAP flags to be off.
## Build
```bash
git clone [email protected]:MIT-SPARK/Kimera-RPGO.git
cd Kimera-RPGO
mkdir build
cd build
cmake ..
make
```
## Usage
This repository can be used as an optimization backend. A sample setup looks something like below. The default solver is LM.
```cpp
// Set up
// set up KimeraRPGO solver
RobustSolverParams params;
params.setPcm3DParams(0.0, 10.0, Verbosity::QUIET);
// Verbosity levels are QUIET, UPDATE, and, VERBOSE in order of increasing number of messages (the default is UPDATE)
// For 2D params.setPcm2DParams(0.0, 10.0); Have been tested
// If threshold is set to < 0, either odom check or loop consistency check disabled
// To use GaussNewton instead of LM: params.solver = Solver::GN;
std::unique_ptr pgo = KimeraRPGO::make_unique(params);
//...
//...
// Run
pgo->update(new_factor, new_values);
```
This can also be used as a standalone experimental tool. A read g2o function can be found in examples.
```
# for 2D:
./RpgoReadG2o 2d
# for 3D
./RpgoReadG2o 3d
```
Example, do `./RpgoReadG2o 3d /home/user/Desktop/in.g2o 1.0 1.0 /home/user/Desktop/out/ v`
## Example
```cpp
// set up KimeraRPGO solver
RobustSolverParams params;
params.setPcm3DParams(, );
std::vector special_symbs{'l', 'u'}; // for landmarks
params.specialSymbols = special_symbs;
std::unique_ptr pgo = KimeraRPGO::make_unique(params); // initiate pgo solver
// When using it normally
pgo->update(new_factor, new_values);
// load a graph (assuming pgo has been reset)
pgo->loadGraph(nfg, values, prior_factor);
pgo->loadGraph(nfg, values, key0); // can just load the first key
// add a graph (ex. already have graph or robot a and adding graph of robot b)
pgo->addGraph(nfg, values, between_factor);
/////// To not use outlier rejection, set up like
RobustSolverParams params;
params.setNoRejection();
std::unique_ptr pgo = KimeraRPGO::make_unique(params); // initiate pgo solver
```
## BSD License
Kimera-RPGO is open source under the BSD license, see the [LICENSE.BSD](LICENSE.BSD) file.