Incremental-Topo

Yuan, Y. & Schwertfeger, S. (2019). Incrementally Building Topology Graphs via Distance Maps. In 2019 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE.

This is our project folder for Incrementally Building Topology Graphs via Distance Maps.

How to use it:

For distance map topomap:

python run.py#note that you need to change the path to ./test_im/xxx/clean.png

For incremental topomap:

python ITOPO_offline.py #used the provided rosbag in ./bag