Introduction
- UPDATE (23/06/2021) : Accomodated changes in g2o API.
- 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
- g2o :(https://github.com/RainerKuemmerle/g2o)
- boost math libraries
Installation
-
g2o: Install from offical repo following instructions here. This verions has been tested with the 20201223 release
-
install boost maths (on ubuntu use the following )
sudo apt-get install libboost-math-dev -
in the directory rrr/
mkdir build && cd build cmake .. makeThis 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.
Please open an new issue if you run into problems.
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}
}