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Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment

Xiyue Guo, Junjie Hu, Junfeng Chen, Fuqin Deng, Tin Lun Lam.

paper link: https://arxiv.org/abs/2010.09297 or https://ieeexplore.ieee.org/document/9353207/

Results

1. Prerequisites

  • Ubuntu
  • CMake
  • Eigen
  • Pangolin
  • OpenCV
  • PCL

2. Running

Clone the repository and catkin_make:

    git clone https://https://github.com/gxytcrc/Semantic-Graph-based--global-Localization.git
    mkdir build
    cd build
    cmake ..
    catkin_make

Download the dataset that is created from Airsim, and save them into the Datset . Download link: https://drive.google.com/file/d/1PIuRyah6lKDTe_YJ6HSVRX4l7MQLwKq5/view?usp=sharing.

Launch it as follows:

./mapAlignment robot1-foldername startFrameNumber endFrameNumber robot2-foldername startFrameNumber endFrameNumber

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Semantic graph based global localization for multi-robot map fusion.

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