Skip to content

ROS based framework for stereo/rgbd camera localisation in 3D LiDAR maps.

Notifications You must be signed in to change notification settings

AGV-IIT-KGP/DepthLocalisation

 
 

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

4 Commits
 
 
 
 

Repository files navigation

DepthLocalisation

DepthLocalisation is an open source Stereo/RGBD camera and 3D LiDAR based localisation framework. This framework enables localisation in a premapped environment. Prior mapping can be achieved by using packages like loam_velodyne and LeGO_LOAM. Visual Tracking is used to provide high frequency, low accuracy updates which are corrected by high accuracy depth residual optimization.

This package is effectively an implementation of this publication. This package is built on top of the ROS ecosystem.

This package has been tested on Ubuntu 16.04 & ROS kinetic.

Installation

premapped_localization depends on the following libraries:

Installing this package this package:

cd ~/catkin_ws/src
git clone https://github.com/ShreyanshDarshan/premapped_localization.git

cd ~/catkin_ws/
catkin_make

About

ROS based framework for stereo/rgbd camera localisation in 3D LiDAR maps.

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages

  • CMake 72.4%
  • C++ 27.6%