Dynablox

This is no ros version! Origin one please check fork repo.

pcd files are enough to run this program. Need transformed and pose in VIEWPOINT.

Please reference our DynamicMap benchmark for more detail on datasets.

For more depedenices or one Dockerfile for all, check:

Dependencies

1. ROS-full: for boost and Eigen or you can install these two manually

2. glog gflag (only for print)

   sh -c "$(wget -O- https://raw.githubusercontent.com/Kin-Zhang/Kin-Zhang/main/Dockerfiles/latest_glog_gflag.sh)"

3. yaml-cpp. Please set the FLAG, check this issue if you want to know more: jbeder/yaml-cpp#682, TOOD inside the CMakeLists.txt

   If you install in Ubuntu 22.04, please check this commit:jbeder/yaml-cpp which is the version could build in 22.04

   cd ${Tmp_folder}
   git clone --branch yaml-cpp-0.6.0 --single-branch https://github.com/jbeder/yaml-cpp.git && cd yaml-cpp
   env CFLAGS='-fPIC' CXXFLAGS='-fPIC' cmake -Bbuild
   cmake --build build --config Release
   sudo cmake --build build --config Release --target install

   An issue mentioned here, and I needed set 0.6.0 version to get rid of error, check this comment

Build and Run

Data example (Teaser data on KITTI sequence 00 only 384.8MB):

wget https://zenodo.org/records/10886629/files/00.zip
unzip 00.zip -d ${data_path, e.g. /home/kin/data}

cmake -B build && cmake --build build

./build/dynablox_run /home/kin/data/00 assets/config.yaml -1

Demo effect:

Cite Papers

This work is refactored during our DynamicMap benchmark and DUFOMap, please cite our work if you use this code version.

Please also cite original work by clicking to the fork on top (core method).

@inproceedings{zhang2023benchmark,
  author={Zhang, Qingwen and Duberg, Daniel and Geng, Ruoyu and Jia, Mingkai and Wang, Lujia and Jensfelt, Patric},
  booktitle={IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)}, 
  title={A Dynamic Points Removal Benchmark in Point Cloud Maps}, 
  year={2023},
  pages={608-614},
  doi={10.1109/ITSC57777.2023.10422094}
}
@article{daniel2024dufomap,
  author={Duberg, Daniel and Zhang, Qingwen and Jia, Mingkai and Jensfelt, Patric},
  journal={IEEE Robotics and Automation Letters}, 
  title={{DUFOMap}: Efficient Dynamic Awareness Mapping}, 
  year={2024},
  volume={9},
  number={6},
  pages={5038-5045},
  doi={10.1109/LRA.2024.3387658}
}
@article{schmid2023dynablox,
  title={Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments},
  author={Schmid, Lukas, and Andersson, Olov, and Sulser, Aurelio, and Pfreundschuh, Patrick, and Siegwart, Roland},
  booktitle={IEEE Robotics and Automation Letters (RA-L)},
  year={2023},
  volume={8},
  number={10},
  pages={6259 - 6266},
  doi={10.1109/LRA.2023.3305239}
}