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https://github.com/koide3/interactive_slam

Interactive Map Correction for 3D Graph SLAM
https://github.com/koide3/interactive_slam

gui hdl-graph-slam lidar point-cloud ros slam velodyne

Last synced: 5 days ago
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Interactive Map Correction for 3D Graph SLAM

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README 

        
# New SLAM Package Released



We released [a new SLAM package GLIM](https://github.com/koide3/glim) that has [interactive map correction features](https://koide3.github.io/glim/quickstart.html#mapping-result).



# interactive_slam

***interactive_slam*** is an open source 3D LIDAR-based mapping framework. In contrast to existing automatic SLAM packages, we aim to develop a semi-automatic framework which allows the user to interactively and intuitively correct mapping failures (e.g., corrupted odometry, wrong loop detection, distorted map, etc) with minimal human effort. This framework provides several map correction features:

  - [Manual & Automatic] Loop closing

  - [Manual] Plane-based map correction

  - [Manual] Multiple map merging

  - [Automatic] Pose edge refinement



![Screenshot_20191016_182424](https://user-images.githubusercontent.com/31344317/66906208-3f2e0880-f042-11e9-8366-c178f9c00b65.png)

[[video]](https://youtu.be/vAqo6YkbKpU)



This package is built on top of the ROS ecosystem. You can start building a map with a pose graph constructed by [hdl_graph_slam](https://github.com/koide3/hdl_graph_slam) or a customized [LeGO-LOAM](https://github.com/koide3/LeGO-LOAM-BOR), or odometry data generated by any ROS package.



This package has been tested on Ubuntu 18.04 & ROS melodic or later.



[![Build](https://github.com/SMRT-AIST/interactive_slam/actions/workflows/build.yml/badge.svg)](https://github.com/SMRT-AIST/interactive_slam/actions/workflows/build.yml)



## Installation

***interactive_slam*** depends on the following libraries:



  - [GL3W](https://github.com/skaslev/gl3w)

  - [GLFW](https://www.glfw.org/)

  - [Dear ImGui](https://github.com/ocornut/imgui)

  - [portable-file-dialog](portable-file-dialog)

  - [OpenMP](https://www.openmp.org/)

  - [PCL](https://pointclouds.org/)

  - [g2o](https://github.com/RainerKuemmerle/g2o)



```bash

# for ROS noetic

sudo apt-get install libglm-dev libglfw3-dev

sudo apt-get install libsuitesparse-dev libeigen3-dev

sudo apt-get install ros-noetic-geodesy ros-noetic-pcl-ros ros-noetic-nmea-msgs 

```



```bash

# Install g2o from original source code

git clone https://github.com/RainerKuemmerle/g2o.git

cd g2o

mkdir build 

cd build

cmake ../

make

sudo make install

```



```bash

# Install Ceres Library

git clone https://ceres-solver.googlesource.com/ceres-solver

# Install all dependencies

# CMake

sudo apt-get install cmake

# google-glog + gflags

sudo apt-get install libgoogle-glog-dev libgflags-dev

# Use ATLAS for BLAS & LAPACK

sudo apt-get install libatlas-base-dev

# Eigen3

sudo apt-get install libeigen3-dev

# SuiteSparse (optional)

sudo apt-get install libsuitesparse-dev

cd ceres-solver

mkdir build 

cd build

cmake ../

make

sudo make install

```



```bash

cd ~/catkin_ws/src

git clone https://github.com/koide3/ndt_omp

# on melodic

# git clone https://github.com/koide3/ndt_omp -b melodic

git clone https://github.com/koide3/hdl_graph_slam

git clone https://github.com/koide3/odometry_saver

git clone https://github.com/SMRT-AIST/fast_gicp --recursive

git clone https://github.com/SMRT-AIST/interactive_slam --recursive



cd ~/catkin_ws

catkin_make -DCMAKE_BUILD_TYPE=Release

```



***ROS Kinetic users***  

This package cannot be built using gcc and ld on Ubuntu 16. If you are on Ubuntu 16 and ROS kinetic, try the LLVM toolchain. Note: we recommend to use this package on melodic because we do only build-test but not run-test on kinetic.



```bash

sudo apt install clang-6.0 lld-6.0

sudo update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld-6.0 50

sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-6.0 50

sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-6.0 50

cd ~/catkin_ws && rm -rf build devel    # be aware of that this command removes build and devel directories

CC=clang CXX=clang++ catkin_make -DCMAKE_BUILD_TYPE=Release

```



## Examples



### Example1 - Basic usage with hdl_graph_slam



In this example, we edit a map (pose graph) constructed by [hdl_graph_slam](https://github.com/koide3/hdl_graph_slam).  [See more](https://github.com/koide3/interactive_slam/wiki/Example1).

![Screenshot_20191016_175924 png](https://user-images.githubusercontent.com/31344317/66904272-c11c3280-f03e-11e9-9420-078d75c5c0e9.jpg)



### Example2 - Generating odometry with external ROS package



In this example, we create a map with odometry data generated from a rosbag file with LeGO-LOAM. [See more](https://github.com/koide3/interactive_slam/wiki/Example2).



### Example3 - Plane-based map correction & Map merging



In this example, we correct a largely bent map with plane constraints and merge it with another map. [See more](https://github.com/koide3/interactive_slam/wiki/Example3).



![Screenshot_20191016_182955 png](https://user-images.githubusercontent.com/31344317/66906642-fe82bf00-f042-11e9-9373-f810337f4d97.jpg)



## Graph/Odometry file format



You can feed graph/odometry files generated by your program to ***interactive_slam***. [See more](https://github.com/koide3/interactive_slam/wiki/Format)



## FAQ



[FAQ](https://github.com/koide3/interactive_slam/wiki/FAQ)



## License

***interactive_slam*** is released under GPLv3 license.



## Related packages



- [hdl_graph_slam](https://github.com/koide3/hdl_graph_slam)

- [hdl_localization](https://github.com/koide3/hdl_localization)

- [hdl_people_tracking](https://github.com/koide3/hdl_people_tracking)



## Papers

Kenji Koide, Jun Miura, Masashi Yokozuka, Shuji Oishi, and Atsuhiko Banno, Interactive 3D Graph SLAM for Map Correction, IEEE Robotics and Automation Letters (RA-L), 2020 [DOI](https://doi.org/10.1109/LRA.2020.3028828)



## Contact

[発展版機能について](https://github.com/SMRT-AIST/interactive_slam/wiki/%E7%99%BA%E5%B1%95%E7%89%88%E6%A9%9F%E8%83%BD%E3%81%AB%E3%81%A4%E3%81%84%E3%81%A6)



Kenji Koide, [email protected], https://staff.aist.go.jp/k.koide



Mobile Robotics Research Team  

National Institute of Advanced Industrial Science and Technology (AIST), Japan  [\[URL\]](https://unit.aist.go.jp/hcmrc/mr-rt/index.html)