Pole-like Objects Mapping and Long-Term Robot Localization in Dynamic Urban Scenarios

Long Term Localization

Pole-like Objects Mapping and Long-Term Robot Localization is an algorithm that makes robot or UAV locate itself in Dynamic Urban Scenarios robustly and accurately by correcting the real time Lidar odometry.

If you use Long Term Localization, please cite:

@misc{2103.13224,
Author = {Zhihao Wang, Silin Li, Ming Cao, Haoyao Chen and Yunhui Liu},
Title = {Pole-like Objects Mapping and Long-Term Robot Localization in Dynamic Urban Scenarios},
Year = {2021},
Eprint = {arXiv:2103.13224},
}

0 Download Self-made Dataset

2020-10-12-demo.bag

https://www.jianguoyun.com/p/DWsN36kQzcSTBxiCn-kD (Access Password：nrsl2021)

2020-11-05-demo.bag

https://www.jianguoyun.com/p/Df4eWSQQzcSTBxiHn-kD (Access Password：nrsl2021)

1 Settings

• System: ubuntu 16.04
• C++ version: c++17
• g++/gcc >= 7.0
  • How to upgrade your g++ and gcc?
• cmake >= 3.10
  • upgrade your cmake

2 Build

2.1 Install dependencies

Please take a look the README in long-term-localization/src/common folder.

2.2 Build

git clone https://github.com/HITSZ-NRSL/long-term-localization.git
cd long-term-localization/src
git clone https://github.com/lisilin013/third_parities.git

cd ..
# When you build this ws for the first time, it may take a long time, be patient please.
catkin build

3 Run

3.1 Semantic Processing

# terminal 1
roslaunch lio_sam run.launch 

# terminal 2
./sh/record.sh

# terminal 3
rosbag play 2020-10-14-demo.bag --clock 

When the bag run over, shut down the terminal 2 and 3;

Then run below code to extract the semantic

./sh/offline_process.sh

3.2 Mapping

Modify the following code in config file src/long_term_relocalization/config/long_term_relocalization_params.yaml change to localizaion mode.

relocalization:
  mode: localization

# launch mapping nodes.
roslaunch long_term_relocalization mapping.launch

# when you want to save pole cluster map, open another terminal and run the following cmd.
rosrun long_term_relocalization save_cluster_map 

The cluster_map will be saved in "\tmp\clusters_map.bin"

3.3 Localization

• Notes: The bag to be matched (2020-11-13-demo.bag) need to run the process in 3.1 Semantic Processing to extract the semantic cluster, and then used for matching and localization.

3.3.1 Semantic Processing

# terminal 1
roslaunch lio_sam run.launch 

# terminal 2
./sh/record.sh

# terminal 3
rosbag play 2020-11-13-demo.bag --clock 

When the bag run over, shut down the terminal 2 and 3;

Then run below code to extract the semantic.

./sh/offline_process.sh

3.3.2 Localization

Modify the following code in config file src/long_term_relocalization/config/long_term_relocalization_params.yaml change to relocalization mode.

relocalization:
  mode: relocalization

# copy pole cluster map to folder "src/long_term_relocalization/maps".
cp src/long_term_relocalization/maps/clusters_map.bin /tmp/

# launch relocalization nodes.
roslaunch long_term_relocalization relocalization.launch

Then play the processed bag to match with "clusters_map.bin".

cd ~/offline_process/sequences/00
rosbag play semantic.bag --clock