├── .gitignore ├── LICENSE ├── README.md ├── amcl_sewer ├── CMakeLists.txt ├── README.md ├── launch │ ├── amcl_bag.launch │ ├── amcl_bag_fused.launch │ ├── amcl_bag_ground_truth.launch │ ├── amcl_bag_ground_truth_arsi.launch │ ├── amcl_base_station.launch │ ├── amcl_base_station.rviz │ ├── amcl_pure.rviz │ ├── amcl_realtime.launch │ ├── amcl_test.launch │ └── amcl_test.rviz ├── matlab │ ├── arrow.m │ ├── bplot.m │ ├── cellboxplot.m │ ├── cellbplot.m │ ├── circle.m │ ├── draw_errorbars.m │ ├── draw_gas_plots.m │ ├── load_stats_localization.m │ ├── represent_arrow.m │ ├── setLabelStyle.m │ ├── setStyle.m │ ├── suplabel.m │ ├── suplabel_test.m │ └── textUAV.m ├── msg │ └── Localization.msg ├── package.xml ├── python │ ├── draw_bars_n.py │ ├── draw_errors.py │ └── draw_errors_n.py ├── scripts │ ├── demo_full_track.sh │ ├── demo_full_track_orb.sh │ ├── experiment_full_track_23_sept.sh │ ├── experiment_full_track_23_sept_orb.sh │ ├── experiment_full_track_vo_vs_wheel.sh │ ├── experiments_10.sh │ ├── experiments_10_odom.sh │ ├── experiments_11.sh │ ├── ground_truth_amat_27_jun.sh │ ├── ground_truth_amat_28_jun.sh │ ├── ground_truth_amat_demo_1.sh │ ├── ground_truth_amat_demo_2.sh │ ├── ground_truth_amat_demo_3.sh │ ├── ground_truth_amat_demo_4.sh │ ├── ground_truth_mercat_born_11_oct.sh │ ├── ground_truth_mercat_born_17_oct.sh │ ├── ground_truth_mercat_born_21_sep.sh │ ├── ground_truth_mercat_born_arsi_1.sh │ ├── ground_truth_mercat_born_arsi_2.sh │ ├── ground_truth_mercat_born_arsi_3.sh │ ├── ground_truth_pedralbes_12_jun.sh │ ├── ground_truth_pedralbes_12_jun_b.sh │ ├── ground_truth_pedralbes_16_may_complete.sh │ ├── localization_final_demo.sh │ ├── run_ground_truth.bash │ ├── sensor_final_demo_detector.bash │ ├── sensor_final_demo_no_estimation_no_vo.bash │ ├── sensor_final_demo_no_estimation_vo.bash │ └── test_orientation_11.sh └── src │ ├── .kdev_include_paths │ ├── amcl_node.cpp │ ├── particlefilter_sewer.hpp │ └── particlefilter_sewer_fuse_odometry.hpp ├── dependencies.rosinstall ├── manhole_detector ├── CMakeLists.txt ├── README.md ├── launch │ └── test.launch ├── msg │ └── Manhole.msg ├── package.xml ├── scripts │ ├── cnn_detector.py │ ├── fake_detector.py │ ├── fake_detector_plus_labeler.py │ ├── ground_truth.py │ └── joy_detector_feeder.py ├── src │ ├── generate_dataset_learning.cpp │ └── uncompress_depth_images.cpp └── test │ ├── ground_truth_input_vector_simple │ ├── input_vector_2017-01-17-10 │ ├── input_vector_2017-01-17-10_ground_truth │ ├── input_vector_2017-01-17-10_ground_truth_v2 │ ├── input_vector_2017-01-17-10_v2 │ ├── input_vector_2017-01-17-11 │ ├── input_vector_2017-01-17-11_ground_truth │ ├── input_vector_2017-01-17-11_v2 │ ├── input_vector_2017-10-17-10-12-16 │ ├── model.10-0.9861-0.9578.hdf5 │ └── model.29-1.00-0.98.hdf5 ├── sensor_sims ├── CMakeLists.txt ├── launch │ ├── 2_images_to_scan.launch │ ├── gmapping_bag.launch │ └── maps_fix.launch ├── package.xml └── scripts │ ├── get_bags.bash │ ├── sensor_mercat_born_11_oct.sh │ ├── sensor_mercat_born_11_oct_detector.sh │ ├── sensor_mercat_born_11_oct_no_detector.bash │ ├── sensor_mercat_born_17_oct_detector.sh │ ├── sensor_mercat_born_17_oct_detector_fused.sh │ ├── sensor_mercat_born_17_oct_detector_vo.sh │ ├── sensor_pedralbes_b_detector.bash │ └── sensor_pedralbes_b_gmapping.bash ├── sewer_graph ├── CMakeLists.txt ├── README.md ├── include │ └── sewer_graph │ │ ├── .kdev_include_paths │ │ ├── config.h │ │ ├── earthlocation.h │ │ ├── general.h │ │ ├── sewer_graph.h │ │ ├── test_creationclass.h │ │ └── trajectory.h ├── package.xml ├── src │ ├── earthlocation.cpp │ ├── exec │ │ ├── dxf_to_sewer_graph.cpp │ │ ├── get_results.cpp │ │ ├── local2global.cpp │ │ ├── represent_local_trajectory.cpp │ │ ├── test_earth_location.cpp │ │ └── test_sewer_graph.cpp │ ├── general.cpp │ ├── sewer_graph.cpp │ ├── test_creationclass.cpp │ └── trajectory.cpp └── test │ ├── FlightPlan1 │ ├── Pg_Garcia_Faria.graph │ ├── Pg_Garcia_Faria_sections.graph │ ├── a │ ├── av_pearson_graph │ ├── center1 │ ├── cosa.kml │ ├── gis_graph │ ├── gis_graph_complete │ ├── gis_graph_reduced │ ├── gis_graph_reduced.kml │ ├── gis_graph_reduced_copy │ ├── gis_graph_reduced_fake │ ├── gis_graph_reduced_sections │ ├── pedralbes_alternative │ ├── pedralbes_graph │ ├── pedralbes_graph_reduced │ ├── pedralbes_graph_reduced_2 │ ├── pl_virrey_amat_graph │ ├── pl_virrey_amat_graph_mh │ ├── pl_virrey_amat_graph_simple │ ├── sewer_graph │ ├── sewer_graph.kml │ ├── sewer_graph_copy │ ├── sewer_graph_copy_2 │ ├── sewer_graph~ │ ├── sol_baix_graph │ ├── upo_graph │ ├── upo_graph_c.kml │ └── upo_graph_complex ├── simple_graph ├── CMakeLists.txt ├── include │ └── simple_graph │ │ ├── SimpleGraph.h │ │ └── SimpleVertex.h ├── package.xml └── src │ └── test.cpp ├── topological-montecarlo-localization ├── CMakeLists.txt └── package.xml └── wall_detector ├── CMakeLists.txt ├── include └── wall_detector │ └── wall_detector.hpp ├── launch ├── 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