https://github.com/zhongshp/Co-LRIO
A ROS2 package of CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms.
https://github.com/zhongshp/Co-LRIO
centralized collaborative-slam lidar-ranging-inertial
Last synced: about 1 year ago
JSON representation
A ROS2 package of CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms.
- Host: GitHub
- URL: https://github.com/zhongshp/Co-LRIO
- Owner: zhongshp
- License: apache-2.0
- Created: 2023-09-16T05:47:49.000Z (almost 3 years ago)
- Default Branch: master
- Last Pushed: 2025-03-27T05:07:22.000Z (over 1 year ago)
- Last Synced: 2025-03-27T05:28:19.159Z (over 1 year ago)
- Topics: centralized, collaborative-slam, lidar-ranging-inertial
- Language: C++
- Homepage:
- Size: 353 KB
- Stars: 91
- Watchers: 2
- Forks: 9
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# CoLRIO
A ROS2 package of CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms.
https://github.com/PengYu-Team/zhongshp/assets/41199568/81985d82-983c-4eca-898b-43e8f84e7b45
## Author
[Shipeng Zhong](https://github.com/zhongshp) & [Dapeng Feng](https://github.com/DapengFeng) & [Zhiqiang Chen](https://github.com/thisparticle)
## Prerequisites
- [Ubuntu ROS2 Foxy](http://wiki.ros.org/ROS/Installation) (Robot Operating System 2 on Ubuntu 20.04)
- CMake (Compilation Configuration Tool)
- [PCL](https://pointclouds.org/downloads/linux.html) (Default Point Cloud Library on Ubuntu work normally)
- [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) (Default Eigen library on Ubuntu work normally)
- [GTSAM 4.2a8](https://github.com/borglab/gtsam/releases) (Georgia Tech Smoothing and Mapping library)
## Compilation
Build CoLRIO:
```
mkdir -p ~/cslam_ws/src
cd ~/cslam_ws/src
git clone https://github.com/zhongshp/Co-LRIO.git
cd ../
colcon build --symlink-install
```
## Run with Dataset
- [S3E dataset](https://github.com/DapengFeng/S3E). The datasets are configured to run with default parameter.
```
ros2 launch co_lrio run.launch.py
ros2 bag play *your-bag-path*
```
- [our dataset] please also found it in [S3E dataset](https://github.com/DapengFeng/S3E).
## Citation
This work is published in IEEE ICRA 2024 conference, and please cite related papers:
```
@INPROCEEDINGS{10611672,
author={Zhong, Shipeng and Chen, Hongbo and Qi, Yuhua and Feng, Dapeng and Chen, Zhiqiang and Wu, Jin and Wen, Weisong and Liu, Ming},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
title={CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms},
year={2024},
volume={},
number={},
pages={3920-3926},
keywords={Simultaneous localization and mapping;Accuracy;Scalability;Collaboration;Computational efficiency;Sensors;Servers},
doi={10.1109/ICRA57147.2024.10611672}}
```
```
@ARTICLE{10740801,
author={Feng, Dapeng and Qi, Yuhua and Zhong, Shipeng and Chen, Zhiqiang and Chen, Qiming and Chen, Hongbo and Wu, Jin and Ma, Jun},
journal={IEEE Robotics and Automation Letters},
title={S3E: A Multi-Robot Multimodal Dataset for Collaborative SLAM},
year={2024},
volume={9},
number={12},
pages={11401-11408},
keywords={Simultaneous localization and mapping;Robot sensing systems;Synchronization;Trajectory;Global navigation satellite system;Collaboration;Accuracy;Motion capture;Robot localization;Multi-robot systems;Multi-robot SLAM;data sets for SLAM;SLAM},
doi={10.1109/LRA.2024.3490402}}
```
## Acknowledgement
- We combined the front end of CoLRIO and the [DLO](https://github.com/vectr-ucla/direct_lidar_odometry) to achieve the 5th position in the [ICCV 2023 LiDAR-Inertial SLAM Challenge](https://superodometry.com/iccv23_challenge_LiI).
The Leaderboard is shown as follow:
And the hardware and results are shown as follow:
- CoLRIO depends on [FAST-GICP](https://github.com/SMRT-AIST/fast_gicp) (Kenji Koide, Masashi Yokozuka, Shuji Oishi, and Atsuhiko Banno, "Voxelized GICP for fast and accurate 3D point cloud registration".).
- CoLRIO depends on [GncOptimizer](https://github.com/borglab/gtsam/blob/3a1fe574683f608759eaff4636ab53def600ce84/gtsam/nonlinear/GncOptimizer.h#L45) (Yang, Antonante, Tzoumas, Carlone, "Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection").