Image Landmark and Semantic Point Cloud Map Matching based Localization

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Dependencies

This software is build on ROS(Robotic Operating System). Additionaly, it also requires the following libraries.

• OpenCV (3.2)
• cuDNN
• CUDA (recommand version 10.1)
• Python (recommand version 3.5, 3.7)

sudo apt-get update
sudo apt-get install ros-melodic-ublox
sudo apt-get install ros-melodic-novatel-oem7-driver
sudo apt-get install ros-melodic-grid-map
pip3 install empy
pip3 install catkin_pkg

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Package Install

git clone https://github.com/ailab-konkuk/image_landmark_spc_matching_localization.git
cd image_landmark_spc_matching_localization
catkin_make --cmake-args \
            -DCMAKE_BUILD_TYPE=Release \
            -DPYTHON_EXECUTABLE=/usr/bin/python3 \
            -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m \
            -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
source devel/setup.bash

* If you want to use only point cloud map matching localization, build only 'landmark_matching_localization'

catkin_make -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES='darknet_ros;deeplab_ros'

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Run the demo

1. GPS based Localization

roslaunch landmark_matching_localization gps_localization.launch 

2. Point Cloud Map Matching Localization

roslaunch landmark_matching_localization map_matching_localization.launch 

3. Image Landmark and Semantic Point Cloud Map Matching Localization

For using image landmark and semantic point cloud map matching localization, you have to run 3 launch files. (localization, image segmentation AI, image detection AI)

1. Image Landmark and Semantic Point Cloud Map Matching Localization

source devel/setup.bash
roslaunch landmark_matching_localization landmark_matching_localizaion.launch 

2. Image Segmentation AI

source devel/setup.bash
rosrun deeplab_ros inference_deeplab.py

3. Image Detection AI

source devel/setup.bash
roslaunch darknet_ros darknet_ros.launch

Download Semantic Point Cloud Example

You can download semantic point cloud map example file at http://gofile.me/5s2Yk/uN3afXdtD

Put this file at src/landmark_matching_localization/map.

Download Yolo Weights Example

You can download weights example file at http://gofile.me/5s2Yk/orOrQn5ND

Put this file at src/darknet_ros/darknet_ros/yolo_network_config/weights.

Download ROSBAG Example

You can download rosbag example file at

Tunnel Version : http://gofile.me/5s2Yk/pQCSIBYwK

Downtown Version : http://gofile.me/5s2Yk/5S2GyFTkm

rosbag play 15_ccw_in_d_c_2.bag
rosbag play 15_ccw_in_d_c_4.bag