PlaneSLAM

An open source project on a plane parametrization in the task of Simultaneous Localization and Mapping.

Prerequesties:

• Eigen
• g2o

Related publications

If you use any part of this work, please cite the appropriate paper:

@article{wietrzykowski2016,
  title={{On the Representation of Planes for Efficient Graph-based SLAM with High-level Features}},
  author={J. Wietrzykowski},
  journal={Journal of Automation, Mobile Robotics and Intelligent Systems},
  year={2016},
  number={03},
  pages={3--11},
  volume={10},
  doi={10.14313/JAMRIS_3-2016/18}
} 

@inproceedings{wietrzykowski2017,
    author={J. Wietrzykowski and P. Skrzypczyński},
    booktitle={2017 European Conference on Mobile Robots (ECMR)},
    title={{A probabilistic framework for global localization with segmented planes}},
    year={2017},
    volume={},
    number={},
    pages={1-6},
    doi={10.1109/ECMR.2017.8098672},
    ISSN={},
    month={Sept}
}

Building:

Tested on Ubuntu 16.04.

1. Install Eigen:

   sudo apt-get install libeigen3-dev
   

   Please ensure that your Eigen version is <= 3.2. Versions >= 3.3 causes alignment issues with g2o.
2. Build g2o and install it:

   cd 3rdParty/g2o
   mkdir build && cd build
   cmake ..
   make -j$(nproc)
   sudo make install
   

3. Build PlaneSLAM:

   mkdir build && cd build
   cmake ..
   make -j$(nproc)
   

Launching:

1. Launch demo:

   ./PlaneSLAM