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.
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