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This is the code repository for the IROS'24 paper "Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environment"

Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environment

Usage:

The repository has been tested in Ubuntu 20.04 with ROS Noetic. To setup OSM-guided Active Loop Closure(ALC), install the dependencies with command lines below.

  1. Dependencies
  1. OSM(OpenStreetMap) Global Path Generation
  • 1: Download the OSM file for the area to be explored
  • 2: Follow osmplanner.ipynb to generate the optimal global path
  1. Quick Start
### front end ###
roslaunch fast_lio mapping_avia_rot.launch
### terrain_analysis ###
roslaunch vehicle_simulator system_osm_follow.launch
### waypoint ###
roslaunch osmplanner osmplanner.launch
### gps follow ###
roslaunch gps_follow ini_gps.launch
### active loop closure ###
roslaunch gps_follow active_loop.launch
### back end ###
roslaunch aloam_velodyne fastlio_ouster64.launch

Reference:

Wei Gao, Zezhou Sun, Mingle Zhao, Chengzhong Xu, and Hui Kong, Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environment, IEEE International Conference on Intelligent Robotics and Systems (IROS), 2024. [PDF]

Acknowledgement:

Part of the codes are based on FAST_LIO_SLAM and autonomous exploration development environment. Thanks for their awesome work.