Code for our RSS/IJRR Paper : Robust Loop Closing over Time
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cmake-modules
datasets
doc
examples
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CMakeLists.txt
README.md

README.md

Introduction

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

Requirements

Installation

  • 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/

Running the 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.

Citing this work

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}
}