Code for a real-time distributed cooperative slam(RDC-SLAM) system for ROS compatible platforms.

Related tags

Deep LearningRDC_SLAM
Overview

RDC-SLAM

This repository contains code for a real-time distributed cooperative slam(RDC-SLAM) system for ROS compatible platforms. The system takes in point cloud from 3d Lidar as inputs. A demonstration of the system can be found here -> https://www.youtube.com/watch?v=FvHQ3VcNWTI demo

The system

RDC-SLAM is an online cooperative SLAM system, which consists of three steps to establish a global map by distributively leveraging existing SLAM techniques. First, similar places are recognized as bridges between each robot. Next, the relative pose estimation is computed through the recognized relative places. Finally, a distributed graph optimization approach is used to merge the local maps generated by all robots. framework

Dependency

  • ROS(tested with kinetic and melodic)
  • gtsam(Georgia Tech Smoothing and Mapping library, 4.0.0-alpha2)
wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install
  • libnabo
git clone git://github.com/ethz-asl/libnabo.git
mkdir build && cd build
cmake ..
sudo make install

Compile

catkin_make -j8

Run the package

  • setup the local network

  • run the launch file on each device

The datasets

A project which aims to protect your privacy using inexpensive hardware and easily modifiable software

Protecting your privacy using an ESP32, an IR sensor and a python script This project, which I personally call the "never-gonna-catch-me-in-the-act-ev

8 Oct 10, 2022
Includes PyTorch -> Keras model porting code for ConvNeXt family of models with fine-tuning and inference notebooks.

ConvNeXt-TF This repository provides TensorFlow / Keras implementations of different ConvNeXt [1] variants. It also provides the TensorFlow / Keras mo

Sayak Paul 87 Dec 06, 2022
Real-time analysis of intracranial neurophysiology recordings.

py_neuromodulation Click this button to run the "Tutorial ML with py_neuro" notebooks: The py_neuromodulation toolbox allows for real time capable pro

Interventional Cognitive Neuromodulation - Neumann Lab Berlin 15 Nov 03, 2022
Inhomogeneous Social Recommendation with Hypergraph Convolutional Networks

Inhomogeneous Social Recommendation with Hypergraph Convolutional Networks This is our Pytorch implementation for the paper: Zirui Zhu, Chen Gao, Xu C

Zirui Zhu 3 Dec 30, 2022
A library for performing coverage guided fuzzing of neural networks

TensorFuzz: Coverage Guided Fuzzing for Neural Networks This repository contains a library for performing coverage guided fuzzing of neural networks,

Brain Research 195 Dec 28, 2022
MMDetection3D is an open source object detection toolbox based on PyTorch

MMDetection3D is an open source object detection toolbox based on PyTorch, towards the next-generation platform for general 3D detection. It is a part of the OpenMMLab project developed by MMLab.

OpenMMLab 3.2k Jan 05, 2023
Example of semantic segmentation in Keras

keras-semantic-segmentation-example Example of semantic segmentation in Keras Single class example: Generated data: random ellipse with random color o

53 Mar 23, 2022
Official PyTorch Implementation of "Self-supervised Auxiliary Learning with Meta-paths for Heterogeneous Graphs". NeurIPS 2020.

Self-supervised Auxiliary Learning with Meta-paths for Heterogeneous Graphs This repository is the implementation of SELAR. Dasol Hwang* , Jinyoung Pa

MLV Lab (Machine Learning and Vision Lab at Korea University) 48 Nov 09, 2022
Probabilistic Programming and Statistical Inference in PyTorch

PtStat Probabilistic Programming and Statistical Inference in PyTorch. Introduction This project is being developed during my time at Cogent Labs. The

Stefano Peluchetti 109 Nov 26, 2022
Boundary IoU API (Beta version)

Boundary IoU API (Beta version) Bowen Cheng, Ross Girshick, Piotr Dollár, Alexander C. Berg, Alexander Kirillov [arXiv] [Project] [BibTeX] This API is

Bowen Cheng 177 Dec 29, 2022
'Aligned mixture of latent dynamical systems' (amLDS) for stimulus decoding probabilistic manifold alignment across animals. P. Herrero-Vidal et al. NeurIPS 2021 code.

Across-animal odor decoding by probabilistic manifold alignment (NeurIPS 2021) This repository is the official implementation of aligned mixture of la

Pedro Herrero-Vidal 3 Jul 12, 2022
Weight initialization schemes for PyTorch nn.Modules

nninit Weight initialization schemes for PyTorch nn.Modules. This is a port of the popular nninit for Torch7 by @kaixhin. ##Update This repo has been

Alykhan Tejani 69 Jan 26, 2021
The official code of Anisotropic Stroke Control for Multiple Artists Style Transfer

ASMA-GAN Anisotropic Stroke Control for Multiple Artists Style Transfer Proceedings of the 28th ACM International Conference on Multimedia The officia

Six_God 146 Nov 21, 2022
VL-LTR: Learning Class-wise Visual-Linguistic Representation for Long-Tailed Visual Recognition

VL-LTR: Learning Class-wise Visual-Linguistic Representation for Long-Tailed Visual Recognition Usage First, install PyTorch 1.7.1+, torchvision 0.8.2

40 Dec 12, 2022
code for our ECCV 2020 paper "A Balanced and Uncertainty-aware Approach for Partial Domain Adaptation"

Code for our ECCV (2020) paper A Balanced and Uncertainty-aware Approach for Partial Domain Adaptation. Prerequisites: python == 3.6.8 pytorch ==1.1.0

32 Nov 27, 2022
PyTorch implementation of our paper How robust are discriminatively trained zero-shot learning models?

How robust are discriminatively trained zero-shot learning models? This repository contains the PyTorch implementation of our paper How robust are dis

Mehmet Kerim Yucel 5 Feb 04, 2022
School of Artificial Intelligence at the Nanjing University (NJU)School of Artificial Intelligence at the Nanjing University (NJU)

F-Principle This is an exercise problem of the digital signal processing (DSP) course at School of Artificial Intelligence at the Nanjing University (

Thyrix 5 Nov 23, 2022
METER: Multimodal End-to-end TransformER

METER Code and pre-trained models will be publicized soon. Citation @article{dou2021meter, title={An Empirical Study of Training End-to-End Vision-a

Zi-Yi Dou 257 Jan 06, 2023
Official implementation for paper Knowledge Bridging for Empathetic Dialogue Generation (AAAI 2021).

Knowledge Bridging for Empathetic Dialogue Generation This is the official implementation for paper Knowledge Bridging for Empathetic Dialogue Generat

Qintong Li 50 Dec 20, 2022
Implementation of the "PSTNet: Point Spatio-Temporal Convolution on Point Cloud Sequences" paper.

PSTNet: Point Spatio-Temporal Convolution on Point Cloud Sequences Introduction Point cloud sequences are irregular and unordered in the spatial dimen

Hehe Fan 63 Dec 09, 2022