neu-ral / dpgo_ros

ROS wrapper for distributed pose graph optimization

DPGO_ROS

Introduction

This repository implements a ROS wrapper for the DPGO library. Example results on the Sphere2500 dataset:

Dependencies

Inside a catkin workspace, please clone the following repositories. Use the default branch unless mentioned otherwise below.

• catkin_simple
• pose_graph_tools: please use the feature/multirobot branch.
• dpgo: core C++ library for distributed PGO.
• dpgo_ros: this repository.

Building the package

Build with catkin:

catkin build

To run a demo:

# source workspace
source ~/catkin_ws/devel/setup.bash

# run demo on example g2o dataset
roslaunch dpgo_ros DPGO.launch

References

If you find this library useful, please consider citing our papers:

@ARTICLE{Tian2021Distributed,
  author={Tian, Yulun and Khosoussi, Kasra and Rosen, David M. and How, Jonathan P.},
  journal={IEEE Transactions on Robotics}, 
  title={Distributed Certifiably Correct Pose-Graph Optimization}, 
  year={2021},
  volume={},
  number={},
  pages={1-20},
  doi={10.1109/TRO.2021.3072346}}

@ARTICLE{Tian2020Asynchronous,
  author={Tian, Yulun and Koppel, Alec and Bedi, Amrit Singh and How, Jonathan P.},
  journal={IEEE Robotics and Automation Letters}, 
  title={Asynchronous and Parallel Distributed Pose Graph Optimization}, 
  year={2020},
  volume={5},
  number={4},
  pages={5819-5826},
  doi={10.1109/LRA.2020.3010216}}