Package Summary

This package provides a novel 3D-laser-based indoor place recognition method to deal with the random disturbances caused by unexpected movements of people and other objects.

Author: Qinghua Li, Yan Zhuang, Fei Yan
License: BSD
Source: git https://github.com/ZhuangYanDLUT/dlut_smartrob.git (branch: groovy-devel)

Contents

Installation
Usage
Further Information
Report a Bug

Installation

This package (also be called 3D-SMART - Place Recognition) has been developed and tested on Ubuntu 12.04 featuring ROS fuerte and groovy, but should work on earlier Ubuntus and ROS electric or diamondback with minor modifications. If you encounter problems, please ask at answers.ros.org. Feel free to send bug fixes, usage reports and suggestions to zhuang@dlut.edu.cn.

The detailed preconditions are:

Ubuntu 12.04, 32bit Version (see your /etc/issue and the output of uname -m)
ROS fuerte is installed
Qt4 installed as default Qt version (check/change with "update-alternatives --display qmake")

The remainder of this description assumes you chose ~/ros_workspace/ as your personal package path. Otherwise you need to adapt the paths below, where ~/ros_workspace is contained to fit your directory strucure.

Download dlut_place_recognition to your personal package path:

git clone https://github.com/ZhuangYanDLUT/dlut_smartrob.git ~/ros_workspace/

Build dlut_place_recognition:

rosmake dlut_place_recognition

If this fails and you can not figure out the solution, please check/ask for solutions at answers.ros.org.

Usage

To start 3D-SMART - Place Recognition

rosrun dlut_place_recognition place_recognition

The following instructions assume you have owned database files, which are some ones storing the global spatial features and local SURF features in database scenes. Otherwise please create database files through two steps Graph->Load Data (Ctrl+L) and Recognition->Extract Features (Ctrl+E) successively.

1. Please load 3D laser scanning data of query scene (Graph->Load Data (Ctrl+L));

2. Place recognition for query scene (Recognition->Place Recognition (Ctrl+P)).

Optionally, you can show query scene Bearing-Angle image (Graph->Show BA Image (Ctrl+B)) and Flowsheet (Graph->Show Flowsheet (Ctrl+F)) of the software; Clicked the "View" Menu, you can also show or hide 3D and 2D display.

Further Information

If you have any questions regarding usage of 3D-SMART - Place Recognition, please let me know or refer to our recent published paper for more detailed information (IEEE Transactions on Instrument and Measurement, Vol. 62, No. 2, 2013).pdf

For further questions, suggestions, corrections of this README or to submit patches, please contact Yan Zhuang (zhuang@dlut.edu.cn).

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]