Iris

• Visual localization in pre-build pointcloud maps.
• OpenVSLAM and VINS-mono can be used.

Video

Submodule

• OpenVSLAM forked by MapIV

  • original repository (xdspacelab)

Dependency

If you are using ROS, you only need to install g2o and DBoW2.

• ROS
• OpenCV >= 3.2
• Eigen
• PCL
• g2o
• DBow2
  • Please use the custom version released in https://github.com/shinsumicco/DBoW2)

see also: openvslam.

How to Build

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone --recursive https://github.com/MapIV/iris.git
cd ..
catkin_make

How to Run with Sample Data

Download sample data

1. visual feature file: orb_vocab.dbow from URL
2. pointcloud map : kitti_00.pcd from URL
3. rosbag : kitti_00_stereo.bag from URL

Run with sample data

Monocular camera sample

roscd iris/../../../
# download sample data to here (orb_voceb.dbow, kitti_00.pcd, kitti_00_stereo.bag)
ls # > build devel install src orb_vocab.dbow kitti_00.pcd kitti_00_stereo.bag
roslaunch iris openvslam.launch
rosbag play kitti_00_stereo.bag # (on another terminal)

If the estimated position is misaligned, it can be corrected using 2D Pose Estimate in rviz.

Stereo camera sample

roscd iris/../../../
# download sample data to here (orb_voceb.dbow, kitti_00.pcd, kitti_00_stereo.bag)
ls # > build devel install src orb_vocab.dbow kitti_00.pcd kitti_00_stereo.bag
roslaunch iris stereo_openvslam.launch
rosbag play kitti_00_stereo.bag # (on another terminal)

If the estimated position is misaligned, it can be corrected using 2D Pose Estimate in rviz.

How to Run with Your Data

All you need to prepare

1. pointcloud map file (*.pcd)
2. rosbag (*.bag)
3. Config file for iris such as config/sample_iris_config.yaml
4. (only if you use OpenVSLAM) Config file for vSLAM such as config/sample_openvslam_config.yaml
5. (only if you use VINS-mono) To use the VINS-mono, you need to write a launch file and a config file. (More detail in https://github.com/HKUST-Aerial-Robotics/VINS-Mono)

Run with OpenVSLAM

roslaunch iris openvslam.launch iris_config_path:=... 
rosbag play yours.bag # (on another terminal)

Run with VINS-mono

roslaunch iris vinsmono.launch iris_config_path:=... 
roslaunch vins_estimator *something*.launch # (on another terminal)
rosbag play yours.bag # (on another terminal)

License

Iris is provided under the BSD 3-Clause License.

The following files are derived from third-party libraries.

• iris/src/optimize/types_gicp.hpp : part of g2o (BSD)
• iris/src/optimize/types_gicp.cpp : part of g2o (BSD)
• iris/src/pcl_/correspondence_estimator.hpp : part of pcl (BSD)
• iris/src/pcl_/correspondence_estimator.cpp : part of pcl (BSD)
• iris/src/pcl_/normal_estimator.hpp : part of pcl (BSD)
• iris/src/pcl_/normal_estimator.cpp : part of pcl (BSD)