└── README.md /README.md: -------------------------------------------------------------------------------- 1 | # EIKF-VIO-LIO 2 | 3 | (Currently, only the necessary steps for using the code are observable. Full open access will be enabled after the review.) 4 | 5 | 6 | 7 |
8 | Table of Contents 9 |
    10 |
  1. 11 | Prerequisites 12 |
    2. 13 |
  2. 14 | Installation 15 |
    3. 16 |
  3. 17 | Run on datasets 18 |
    4. 19 |
  4. 20 | Evaluation 21 |
    5. 22 |
  5. 23 | Acknowledgement 24 |
    6. 25 |
  6. 26 | Citation 27 |
    7. 28 |
29 |
30 | 31 | 32 | ## Prerequisites 33 | 34 | 1. Livox_ros_driver 35 | 36 | follow https://github.com/Livox-SDK/livox_ros_driver 37 | 38 | ## Installation 39 | 40 | 1. Create ROS workspace 41 | 42 | ```markdown 43 | mkdir -p ~/EIKF_LIO_VIO/src 44 | cd EIKF_LIO_VIO/src 45 | ``` 46 | 47 | 2. Clone the repository and build 48 | 49 | ```markdown 50 | git clone git@github.com:LIAS-CUHKSZ/EIKF-VIO-LIO.git 51 | cd .. 52 | catkin_make 53 | ``` 54 | 55 | 56 | 57 | 58 | 59 | ## Run 60 | 61 | We have tested the following datasets, which config file can be directly used. We only support the dataset type: rosbag containing lidar, IMU and camera measurements. 62 | 63 | | Datasets | Dataset link | Launch file | data preprocess | evaluation method | evaluation script | 64 | | --------------- | ------------------------------------------------------- | ----------------- | ------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ | 65 | | URCA | https://advdataset2019.wixsite.com/urbanloco/california | URCA.launch | Rosbag with all sensors is provided, you can directly use. | evo | UR_evaluation.sh | 66 | | URHK | https://advdataset2019.wixsite.com/urbanloco/hong-kong | urbanloco.launch | Rosbag with all sensors is provided, you can directly use. | evo | UR_evaluation.sh | 67 | | NTU Viral | https://ntu-aris.github.io/ntu_viral_dataset/ | NTU_VIRAL.launch | Rosbag with all sensors is provided, you can directly use. | https://ntu-aris.github.io/ntu_viral_dataset/evaluation_tutorial.html | https://ntu-aris.github.io/ntu_viral_dataset/evaluation_tutorial.html | 68 | | NTU MCD | https://mcdviral.github.io/ | NTU_Viral2.launch | Need to merge rosbag with different topics. You can refer to : https://github.com/LIAS-CUHKSZ/DataProcessTools4SLAM/blob/main/merge_rosbag.py | evo | evaluate_ntu2.sh | 69 | | private dataset | Our hand-held device | ilive_mid.launch | Rosbag with all sensors is provided, you can directly use. | evo | lab_evaluation.sh | 70 | | | | | | | | 71 | 72 | * You can run the evaluation script directly. Evo is already included in the script. 73 | * evo: https://michaelgrupp.github.io/evo/doc/performance.html 74 | * Evaluation metric we used in evo: root-mean-square-error (rmse) of absolute pose error (ape) with translation part (evo_ape), with unit (m). 75 | 76 | 1.1 Download datasets and remember its path and the name of rosbag . 77 | 78 | 1.2 Modify the corresponding launch file. 79 | 80 | ``` 81 | 82 | 83 | 84 | 85 | 86 | 87 | ``` 88 | 89 | 1.3 Run the code 90 | 91 | ``` 92 | source devel/setup.bash 93 | roslaunch ilive 94 | ``` 95 | 96 | ## Evaluation 97 | 98 | If you want to get evaluation result, please run the corresponding evaluation script. 99 | 100 | 101 | 102 | ## Acknowledgement 103 | 104 | We thank the authors of the following repositories for their open-source code: 105 | 106 | OpenVINS: 107 | https://docs.openvins.com/ 108 | 109 | Fast-LIO: 110 | https://github.com/hku-mars/FAST_LIO 111 | 112 | R3live: 113 | https://github.com/hku-mars/r3live 114 | 115 | ## Citation 116 | 117 | ``` 118 | @misc{li2024efficient, 119 | title={Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements}, 120 | author={Xinghan Li and Haoying Li and Guangyang Zeng and Qingcheng Zeng and Xiaoqiang Ren and Chao Yang and Junfeng Wu}, 121 | year={2024}, 122 | eprint={2402.05003}, 123 | archivePrefix={arXiv}, 124 | primaryClass={cs.RO} 125 | } 126 | ``` 127 | --------------------------------------------------------------------------------