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kenki-posi

This project is for real-time positioning for construction machines at dynamic construction sites using stereo visual SLAM.

How to use?

  • First install the dependencies.
  • Download our dataset for the demo.
  • Build with the script build.sh.
  • Run the demo with the script Example/Stereo/auto10.sh

Dependencies

C++11 Compiler
We use the new thread and chrono functionalities of C++11.

Pangolin
We use Pangolin for visualization and user interface. Install it like this:

cd /path/to/working/dir
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout ad8b5f83222291c51b4800d5a5873b0e90a0cf81
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j4
make install

OpenCV
We use OpenCV 3.4.0. You need to install with CUDA enabled. Install it like this:

cd /path/to/working/dir
wget -q https://github.com/opencv/opencv/archive/3.4.0.zip
unzip -q 3.4.0.zip
rm -rf 3.4.0.zip
cd opencv-3.4.0
mkdir -p build && cd build
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_TBB=ON -DBUILD_NEW_PYTHON_SUPPORT=ON -DWITH_V4L=ON -DWITH_OPENGL=ON -DENABLE_FAST_MATH=1 -DCUDA_FAST_MATH=1 -DWITH_CUBLAS=1 -DBUILD_TIFF=ON ..  
make -j4
make install

Eigen3
Required by g2o (see below). Install like this:

cd /path/to/working/dir
wget -q https://gitlab.com/libeigen/eigen/-/archive/3.3.4/eigen-3.3.4.tar.bz2
tar xf eigen-3.3.4.tar.bz2
rm -rf eigen-3.3.4.tar.bz2
cd eigen-3.3.4
mkdir -p build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j4
make install

DBoW2 and g2o (Included in Thirdparty folder)
We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.

Dataset

example dataset (10GB)!!
mydataset(kitti00)
More datasets to be released:

Citation

To use the code, please cite:

  @article{doi:10.1080/01691864.2020.1869586,
  author = { Runqiu   Bao  and  Ren   Komatsu  and  Renato   Miyagusuku  and  Masaki   Chino  and  Atsushi   Yamashita  and  Hajime   Asama },
  title = {Stereo camera visual SLAM with hierarchical masking and motion-state classification at outdoor construction sites containing large dynamic objects},
  journal = {Advanced Robotics},
  volume = {0},
  number = {0},
  pages = {1-14},
  year  = {2021},
  publisher = {Taylor & Francis},
  doi = {10.1080/01691864.2020.1869586},
  URL = {https://doi.org/10.1080/01691864.2020.1869586},
  eprint = {https://doi.org/10.1080/01691864.2020.1869586}
  }

You can read the preprint of the paper on Arxiv:)
[preprint](https://arxiv.org/abs/2101.06563)