Nuyoah0123 / IGLOV

[TMECH 2023] Active View Planning for Visual SLAM in Outdoor Environments Based on Continuous Information Modeling

IGLOV

Active View Planning for Visual SLAM in Outdoor Environments Based on Continuous Information Modeling

1. Introduction

IGLOV is a approach by actively and smoothly controlling a gimbal camera equipped on the robot to realize robust and accurate SLAM in unknown outdoor environments. The main works include three-fold:

• Feature distribution-weighted Fisher information to represent the localization uncertainty of environments.
• A continuous information modeling method to map the environmental information, like localization uncertainty, into multiple polynomial functions.
• An information gradient-based local view (IGLOV) planner plans the optimal camera views in real-time for obtaining maximal environmental information.

Authors: Zhihao Wang, Haoyao Chen from the Networked RObotics and Sytems Lab, Shiwu Zhang, and Yunjiang Lou.

If you use IGLOV for your academic research, please cite the following paper [pdf].

@ARTICLE{10129820,
  author={Wang, Zhihao and Chen, Haoyao and Zhang, Shiwu and Lou, Yunjiang},
  journal={IEEE/ASME Transactions on Mechatronics}, 
  title={Active View Planning for Visual SLAM in Outdoor Environments Based on Continuous Information Modeling}, 
  year={2023},
  volume={},
  number={},
  pages={1-12},
  doi={10.1109/TMECH.2023.3272910}}

1.1. Framework

1.2. Related Video:

Video links: Youtube or Bilibili.

2. Installation

Tested on Ubuntu 16.04 and 18.04.

• Install ROS packages

sudo apt-get install ros-$(rosversion)-octomap-ros ros-$(rosversion)-octomap-msgs ros-$(rosversion)-yocs-cmd-vel-mux ros-$(rosversion)-pcl-ros

cd {YOUR_PATH}
git clone https://github.com/HITSZ-NRSL/IGLOV.git
cd IGLOV
catkin build

• Add Gazebo model path

export GAZEBO_MODEL_PATH=$YOUR_PATH$/IGLOV/src/plt1000_base/plt_gazebo/models:$GAZEBO_MODEL_PATH

3. Run examples

Gazebo

cd {YOUR_PATH}/IGLOV
roslaunch plt_gazebo gazebo_realsense.launch

SLAM

cd {YOUR_PATH}/IGLOV
roslaunch orb_slam_2_ros orb_slam2_d435_rgbd_realsense.launch

View Planning

cd {YOUR_PATH}/IGLOV
roslaunch view_planning view_planning.launch

Robot Base

cd {YOUR_PATH}/IGLOV/src/plt1000_base/plt_control/src
python robot_keyboard_teleop.py 

Then press the key 'r'(lowercase), the robot base will follow the preset trajectory.

5. Acknowledgments

SLAM in IGLOV is based on ORB-SLAM2.

LICENSE

The source code is released under GPLv2 license.