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viodom package from viodom repo

viodom

Package Summary

Tags No category tags.
Version 0.0.0
License BSD 3-Clause License
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fjperezgrau/viodom.git
VCS Type git
VCS Version master
Last Updated 2016-11-07
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Visual odometry package, currently supporting stereo camera + IMU

Additional Links

Maintainers

  • Fernando Caballero
  • Francisco J. Perez Grau

Authors

  • Fernando Caballero
  • Francisco J. Perez Grau

viodom Build Status

ROS package (indigo) for visual odometry. This package contains one single node: viodom_node, which estimates robot motion based on incoming raw images and IMU mesaurements from the Visual-Inertial (VI-) Sensor. To correctly estimate the motion, the node first needs to wait for a few seconds to initialize an IMU filter. It depends on OpenCV (installed alongside with ROS desktop-full) and Eigen library which must be installed in your system:

sudo apt-get install libeigen3-dev

Who do I talk to?

  • Fernando Caballero (fcaballero@us.es), University of Seville, Spain
  • Francisco J Perez Grau (fjperezgrau@gmail.com), CATEC (Center for Advanced Aerospace Technologies), Spain

Nodes

Currently this package only includes one node which takes in a stereo pair of images and IMU data, and outputs pose estimates. Images are rectified using calibration information. On startup, an IMU filter needs to be initialized so the robot needs to be quiet for a few seconds. Some parameters can be changed without having to restart the node, as indicated in the dynamic reconfiguration file in subfolder ‘cfg’.

Subscribed Topics

  • left_cam/image_raw (sensor_msgs/Image): Left camera raw image.
  • left_cam/camera_info (sensor_msgs/CameraInfo): Left camera calibration information.
  • right_cam/image_raw (sensor_msgs/Image): Right camera raw image.
  • right_cam/camera_info (sensor_msgs/CameraInfo): Right camera calibration information.
  • imu_topic (sensor_msgs/Imu): IMU topic.

Published Topics

  • viodom_transform (geometry_msgs/TransformStamped): Robot’s estimated pose in the odom frame.
  • point_cloud (sensor_msgs/PointCloud2): 3D point cloud based on the input stereo pair.
  • tf (tf/tfMessage): Publishes the transform from odom to base_link.

Demo

The package includes a launch file with parameters ready to use with a dataset recorded at CATEC. This dataset includes images, IMU data and ground-truth localization taken from a VICON motion capture system. The bagfile can be downloaded from https://drive.google.com/open?id=0B3msAWZJELBTYXg3OE0zWmd0eVU

Citing

If you use viodom in an academic context, please cite the following publication:

http://ieeexplore.ieee.org/document/7502653/

@INPROCEEDINGS{7502653,
  author={F. J. Perez-Grau and F. R. Fabresse and F. Caballero and A. Viguria and A. Ollero},
  booktitle={2016 International Conference on Unmanned Aircraft Systems (ICUAS)},
  title={Long-term aerial robot localization based on visual odometry and radio-based ranging},
  year={2016},
  pages={608-614},
  doi={10.1109/ICUAS.2016.7502653},
  month={June},}

The presentation material can be found in https://drive.google.com/open?id=0B3msAWZJELBTbGJaUjBJOW11NTg

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Dependant Packages

No known dependants.

Launch files

  • launch/viodom.launch
    • F. Caballero and F.J. Perez-Grau Files tuned for EuRoC dataset 'catec-2016-01-27-12-30-41.bag'

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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