• Visual localization in pre-build pointcloud maps.
• OpenVSLAM and VINS-mono can be used.

• OpenVSLAM forked by MapIV

  • original repository (xdspacelab)

If you are using ROS, you only need to install g2o and DBoW2.

• ROS
• OpenCV >= 3.2
• Eigen
• PCL
• g2o
• DBow2
  • Please use the custom version released in https://github.com/shinsumicco/DBoW2)

see also: openvslam.

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone --recursive https://github.com/MapIV/iris.git
cd ..
catkin_make

1. visual feature file: orb_vocab.dbow from URL
2. pointcloud map : kitti_00.pcd from URL
3. rosbag : kitti_00_video.bag from URL

roscd iris/../../../
# download sample data to here (orb_voceb.dbow, kitti_00.pcd, kitti_00.bag)
ls # > build devel install src orb_vocab.dbow kitti_00.pcd kitti_00.bag
roslaunch iris openvslam.launch
rosbag play kitti_00.bag # (on another terminal)

If the estimated position is misaligned, it can be corrected using 2D Pose Estimate in rviz.

1. pointcloud map file (*.pcd)
2. rosbag (*.bag)
3. Config file for iris such as config/sample_iris_config.yaml
4. (only if you use OpenVSLAM) Config file for vSLAM such as config/sample_openvslam_config.yaml
5. (only if you use VINS-mono) To use the VINS-mono, you need to write a launch file and a config file. (More detail in https://github.com/HKUST-Aerial-Robotics/VINS-Mono)

roslaunch iris openvslam.launch iris_config_path:=... 
rosbag play yours.bag # (on another terminal)

roslaunch iris vinsmono.launch iris_config_path:=... 
roslaunch vins_estimator *something*.launch # (on another terminal)
rosbag play yours.bag # (on another terminal)

Iris is provided under the BSD 3-Clause License.

The following files are derived from third-party libraries.

• iris/src/optimize/types_gicp.hpp : part of g2o (BSD)
• iris/src/optimize/types_gicp.cpp : part of g2o (BSD)
• iris/src/pcl_/correspondence_estimator.hpp : part of pcl (BSD)
• iris/src/pcl_/correspondence_estimator.cpp : part of pcl (BSD)
• iris/src/pcl_/normal_estimator.hpp : part of pcl (BSD)
• iris/src/pcl_/normal_estimator.cpp : part of pcl (BSD)