Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment

Xiyue Guo, Junjie Hu, Junfeng Chen, Fuqin Deng, Tin Lun Lam.

paper link: https://arxiv.org/abs/2010.09297

Results

1. Prerequisites

• Ubuntu
• CMake
• Eigen
• Pangolin
• OpenCV
• PCL

2. Running

Clone the repository and catkin_make:

    git clone https://https://github.com/gxytcrc/Semantic-Graph-based--global-Localization.git
    mkdir build
    cd build
    cmake ..
    catkin_make

Download the dataset that is created from Airsim, and save them into the Datset . Download link: https://drive.google.com/file/d/1PIuRyah6lKDTe_YJ6HSVRX4l7MQLwKq5/view?usp=sharing.

Launch it as follows:

./mapAlignment robot1-foldername startFrameNumber endFrameNumber robot2-foldername startFrameNumber endFrameNumber