coxgraph

KO | EN

gitlite — search

#hacktoberfest #react #ai #llm #golang #machine-learning #rust #deep-learning #docker #macos #nodejs #awesome #cli #security

(★ 61)

Code for "Coxgraph: Multi-Robot Collaborative, Globally Consistent, Online Dense Reconstruction System", IROS 2021 Best Paper Award Finalist on Safety, Security, and Rescue Robotics in memory of Motohiro Kisoi

coxgraph Latest Version Download

Download Latest Version (.zip)

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

# Coxgraph

**Coxgraph** is a multi robot collaborative reconstruction system providing realtime, low bandwidth and global consistent dense mapping.
As the name indicates, **Coxgraph** is heavily inspired by and adapted from [**Voxgraph**](https://github.com/ethz-asl/voxgraph.git).
We extend it to multi robot scenarios, and reduce the bandwidth of submap transmission by convert TSDF submaps to *mesh packs* and recover it back in the server.
Then check validity of the loop closure matches and optimization based on dense submaps.

[![Video player thumbnail for GitHub](https://raw.githubusercontent.com/LXYYY/lxyyy.github.io/master/images/coxgraph_video_thumbnail.jpg)](https://youtu.be/KgPLRP_ADQQ)

## Citing

This work is in IROS 2021 Best Paper Award Finalist on Safety, Security, and Rescue Robotics.
You can download the pdf from [here](http://www.cad.zju.edu.cn/home/gfzhang/papers/Coxgraph/IROS21_Coxgraph.pdf).
 When using **Coxgraph** in your research, please cite our publication:

```
@inproceedings{xiangyu2021coxgraph,
  author={Liu, Xiangyu and Ye, Weicai and Tian, Chaoran and Cui, Zhaopeng and Zhang, Guofeng and Bao, Hujun},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title={Coxgraph: Multi-Robot Collaborative, Globally Consistent, Online Dense Reconstruction System},
  year={2021}
}
```

## Installation

### Requirements

1. Ubuntu 18;
2. ROS Melodic;
3. OpenCV 3;
4. Open3D 0.10.

### Build

1. Install workspace and catkin tools:

sudo apt install python-catkin-tools python-wstool

2. Create and config a catkin workspace:

mkdir -p ~/catkin_ws/src
        cd ~/catkin_ws
        catkin init
        catkin config --extend /opt/ros/${ROS_DISTRO}
        catkin config --merge-devel
        catkin config -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=14

3. Clone the repository and dependencies:

cd src
        git clone git@github.com:zju3dv/coxgraph.git
        wstool init
        wstool merge coxgraph/coxgraph_ssh.rosinstall
        wstool update

4. Start building:

catkin build coxgraph vins_client_server pose_graph_backend image_undistort

### SLAM Frontend Selection

A convenient interface enabling any multi-robot SLAM system to cooperate with **Coxgraph** is provided named as `coxgraph_mod`. One can easily insert a few lines into other frontend to use it with **Coxgraph**. In this code, we used **vins_client_server** as the frontend.

### Experiment Machine Hall

1. Download EuRoC bag files [here](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets).
2. In this code, we run 2-agent collaborative session on the same machine. If you run 3-agent simultaneously, the performence of **Coxgraph** might degrade since the computational resources are overloaded. Run the launch file:

roslaunch coxgraph run_experiment_euroc.launch
        roslaunch coxgraph coxgraph_rviz.launch

coxgraph

coxgraph Latest Version Download

Today's picks

Was this content helpful?

Recent Feedback

coxgraph

coxgraph Latest Version Download

Today's picks

Was this content helpful?

Recent Feedback

Download README