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AVP-SLAM-SIM

A basic implementation of AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot(IROS 2020) in simulation.

Respect to AVP-SLAM project -> Tong Qin, Tongqing Chen, Yilun Chen, and Qing Su

Contributors Forks Stargazers Issues


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AVP-SLAM-SIM

A basic implementation of AVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot(IROS 2020) in simulation!
View Demo · Report Bug · Request Feature

Table of Contents
  1. About The Project
  2. CodeStructure
  3. How to run
  4. How to run
  5. Roadmap
  6. Contributing
  7. License
  8. Contact
  9. Acknowledgements

About The Project

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   This project is only my implementation of the Paper, not official release , we only release our simulation codes. Other Code will be released soon

CodeStructure

  We release our basic code structure, for the whole project, you need at least calib,segmentation,avp-bev,sync part etc. avp-bev is one of the core parts of this project, The struct show in the figure:

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  If you are intrested in this project, you can follow the ***.h files to relize your implementation.

How to run

   This project provide a gazebo world. so if you wanna test the code, you need prepare the simulation world.

   This project need a gazebo environment, Usually loading the gazebo models takes long time, so we need to download the models first and put them in ~/.gazebo/models/.

Follow this link,Download the models from BaiDu YUN, The extract code cmxc, and unzip them in ~/.gazebo/models/. or you can Download the models Google Drive LINK.

mkdir -p ~/catkin_ws/src && cd catkin_ws/src
git clone https://github.com/TurtleZhong/AVP-SLAM-SIM.git
cd gazebo_files/
unzip my_ground_plane.zip -d ~/.gazebo/models/

cd ../
catkin init && catkin config -DCMAKE_BUILD_TYPE=Release
catkin build
source devel/setup.bash
roslaunch avp_gazebo single_simulated_avp.launch

Ubuntu 16.04

sudo apt-get install ros-kinetic-gmapping ros-kinetic-navigation
sudo apt-get install ros-kinetic-kobuki ros-kinetic-kobuki-core ros-kinetic-kobuki-gazebo

Ubuntu 18.04

sudo apt-get install ros-melodic-kobuki-*
cd ~/catkin_ws/src
git clone https://github.com/yujinrobot/kobuki_desktop.git
catkin build

Acyually If you test the code fail in your env(ubuntu 18.04), I recomend you use Ubuntu 16.04 for test and I will provide A DOCKER ENV - TODO

DockerENV

If everything is OK, you will get this:

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Roadmap

Contributing

Contributions are what make the open source community such an amazing place to be learn, inspire, and create. Any contributions you make are greatly appreciated.

  1. Fork the Project
  2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
  3. Commit your Changes (git commit -m 'Add some AmazingFeature')
  4. Push to the Branch (git push origin feature/AmazingFeature)
  5. Open a Pull Request

License

Distributed under the MIT License.

Contact

Xinliang Zhong - @zxl - [email protected]

Wenxuan Chen - @wxchen - [email protected]

Project Link: https://github.com/TurtleZhong/AVP-SLAM-SIM

Acknowledgements