https://github.com/ethz-asl/cblox
Voxblox-based submapping
https://github.com/ethz-asl/cblox
Last synced: about 2 months ago
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Voxblox-based submapping
- Host: GitHub
- URL: https://github.com/ethz-asl/cblox
- Owner: ethz-asl
- License: bsd-3-clause
- Created: 2018-07-26T16:40:38.000Z (almost 7 years ago)
- Default Branch: master
- Last Pushed: 2021-11-23T17:39:12.000Z (over 3 years ago)
- Last Synced: 2025-03-31T14:13:34.213Z (3 months ago)
- Language: C++
- Homepage:
- Size: 528 KB
- Stars: 208
- Watchers: 47
- Forks: 50
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# c-blox
A TSDF-based mapping library based on [Voxblox](https://github.com/ethz-asl/voxblox). C-blox adds sub-mapping to voxblox with the aim of allowing large(r)-scale mapping in the presence of imperfect pose estimates.
# Paper
If using c-blox for scientific publications, please cite the following paper, available [here](https://arxiv.org/abs/1710.07242):
Alexander Millane, Zachary Taylor, Helen Oleynikova, Juan Nieto, Roland Siegwart and Cesar Cadena. "**C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach.**" 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018.
```latex
@inproceedings{millane2018cblox,
author={Millane, Alexander and Taylor, Zachary and Oleynikova, Helen and Nieto, Juan and Siegwart, Roland and Cadena, C{\'e}sar},
booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach},
year={2018}
}
```
# Installation
C-blox extends the voxblox library and runs on ROS. The first step of installation is to setup a catkin workspace and install voxblox as per the instructions [here](https://voxblox.readthedocs.io/en/latest/pages/Installation.html).
Then Navigate to the catkin src space and clone c-blox; if you've installed in the default location and are using [ssh keys for github](https://help.github.com/en/articles/connecting-to-github-with-ssh):
```
cd ~/catkin_ws/src/
git clone [email protected]:ethz-asl/c-blox.git
```
Compile:
```
catkin build cblox_ros
```
You're done!
# Example Usage
We include (at the moment) two examples with the c-blox package:
* Kitti Dataset (ground truth localization)
* ~~Machine Hall (orb-slam localization)~~ (in production)
## Kitti Dataset
In this example we create a cblox map using the lidar data and "ground-truth" pose estimates from the [kitti dataset](http://www.cvlibs.net/datasets/kitti/). This simple example demonstrates the *creation* and *display* of submaps using c-blox - because we use drift-free pose estimates (rather than a SLAM system), no submap correction is required/used.
The produced map, viewed in [rviz](http://wiki.ros.org/rviz):
And under construction
To run the example download a [kitti raw dataset](http://www.cvlibs.net/datasets/kitti/raw_data.php). To produce the map above, we ran the "2011_09_30_drive_0018" dataset under the catagory "residential". Convert the data to a rosbag using [kitti_to_rosbag](https://github.com/ethz-asl/kitti_to_rosbag).
Then, with cblox_ros built and your workspace sourced, run cblox:
```
roslaunch cblox_ros run_kitti.launch dataset_path:=PATH_TO_YOUR_BAG
```
Rviz should start up and you should see the submaps start to appear, as in the animation above.