Code Monkey home page Code Monkey logo

vins-gps-1's Introduction

VINS-GPS

此项目可作为一个VINS教学版,里面加入了大量本人对VINS的一些理解注释。除此之外,本项目将在VINS的基础上新增Visual+IMU+GPS耦合的多传感器融合demo,与VINS其他demo一样,本项目也运行在ROS上。

1.预装项

1.1 系统

在Ubuntu18.04 LTS中测试,预计Ubuntu16.04 LTS中也能正常运行(Ubuntu20 兼容性暂时未知)。

安装对应的ROS版本( Ubuntu16.04 LTS对应ROS Kinetic;Ubuntu18.04 LTS对应ROS Melodic ),ROS 安装教程

1.2 Ceres安装

Ceres 安装教程

2. 编译项目

    cd ~/catkin_ws/src
    git clone 
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3. Test

3.1 Test with KITTI

  • KITTI Stereo

下载KITTI Odometry dataset ,以sequences 00为例

  1. kitti stereo+gps
# 终端1
roscore

# 终端2
source catkin_ws/devel/setup.bash
roslaunch vins vins_rviz.launch

# 终端3
source catkin_ws/devel/setup.bash
rosrun vins kitti_gps_test /home/sqg/catkin_ws/src/vins-gps/config/kitti_raw/kitti_10_03_config.yaml /home/sqg/dataset/kitti/2011_10_03_drive_0027_sync

# 终端4
source catkin_ws/devel/setup.bash
rosrun global_fusion global_fusion_node
  1. kitti stereo
# 终端1
roscore

# 终端2
source catkin_ws/devel/setup.bash
roslaunch vins vins_rviz.launch

# 终端3
source catkin_ws/devel/setup.bash
rosrun vins kitti_odom_test /home/sqg/catkin_ws/src/vins-gps/config/kitti_odom/kitti_config00-02.yaml /home/sqg/dataset/kitti/00

# 终端4 (可选)
source catkin_ws/devel/setup.bash
rosrun loop_fusion loop_fusion_node /home/sqg/catkin_ws/src/vins-gps/config/kitti_odom/kitti_config00-02.yaml 
  1. kitti stereo+IMU
# 终端1
roscore

# 终端2
source catkin_ws/devel/setup.bash
roslaunch vins vins_rviz.launch

# 终端3
source catkin_ws/devel/setup.bash
rosrun vins kitti_vins_test /home/sqg/catkin_ws/src/vins-gps/config/kitti_raw/kitti_10_03_config_imu.yaml /home/sqg/dataset/kitti/2011_10_03_drive_0027_sync

# 终端4
source catkin_ws/devel/setup.bash
rosrun global_fusion global_fusion_node
  1. euroc mono+IMU
# 终端1
roscore

# 终端2
source catkin_ws/devel/setup.bash
roslaunch vins vins_rviz.launch

# 终端3
source catkin_ws/devel/setup.bash
rosrun vins vins_node /home/sqg/catkin_ws/src/vins-gps/config/euroc/euroc_mono_imu_config.yaml 

# 终端4(可选)
source catkin_ws/devel/setup.bash
rosrun loop_fusion loop_fusion_node /home/sqg/catkin_ws/src/vins-gps/config/euroc/euroc_mono_imu_config.yaml

# 终端5
source catkin_ws/devel/setup.bash
rosbag play ~/dataset/euroc/MH_01_easy.bag
  1. euroc stereo+IMU

  2. euroc stereo

  • KITTTI Stereo+GPS+IMU

3.2 Test with your own dataset

下一步工作,污染GPS数据,做鲁棒估计

本人在校研究内容:

感谢香港科技大学Aerial Robotics Group 秦通等人的VINS开源项目

vins-gps-1's People

Contributors

suqiguang avatar

Watchers

 avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.