lajoiepy / rrr Goto Github PK

UPDATE (17/02/2014) : Complete code rewrite to allow extending to various SLAM back-ends
UPDATE : Added timestamps in datasets/B25b/timestamps because of different number of poses in Odometry and Ground Truth g2o files

This project contains the accompanying code for our RSS 2012 paper Robust Loop Closing over time

• g2o: http://www.openslam.org/g2o (+ Eigen + libsuitesparse-dev )
• boost math libraries

• g2o:

  Clone from openslam.org or http://github.com/ylatif/g2o
  and install following the instructions provided there in.

• install boost maths ( On ubuntu : sudo apt-get install libboost-math1.42-dev)

• in the directory rrr/
  mkdir build
  cd build
  cmake ..
  make
  

  This will generate examples in the folder rrr/build/examples/

The example folder contains two executables.

• RRR_2D_optimizer_g2o : needs a 2D SLAM g2o file as input and generates rrr-solved.g2o as output.
• RRR_3D_from_disk_g2o : needs a 3D SLAM g2o file as input

The code has been restructured into more organized blocks. The main class of interest is include/RRR.hpp. Further information on how to use this in your on project can be found in doc/

Kindly drop me an email at ylatif AT unizar DOT es in case something is not working.

If you use this work, please cite our corresponding paper :

@article{Latif-IJRR-13,
author = {Latif, Yasir and Cadena, César and Neira, José},
title = {Robust loop closing over time for pose graph SLAM},
volume = {32},
number = {14},
pages = {1611-1626},
year = {2013},
doi = {10.1177/0278364913498910},
URL = {http://ijr.sagepub.com/content/32/14/1611.abstract},
journal = {The International Journal of Robotics Research}
}

@INPROCEEDINGS{Latif-RSS-12,
author = {Y. Latif and C. Cadena and J. Neira},
title = {{Robust Loop Closing Over Time}},
booktitle = {Proceedings of Robotics: Science and Systems},
year = {2012},
address = {Sydney, Australia},
month = {July}
}