A Multi-sensor Fusion Odometry via Smoothing and Mapping.

Overview

LVIO-SAM

A multi-sensor fusion odometry, LVIO-SAM, which fuses LiDAR, stereo camera and inertial measurement unit (IMU) via smoothing and mapping.

  • The code is still being integrated. we will release it in the feature.

LVIO-SAM

A multi-sensor fusion odometry, LVIO-SAM, which fuses LiDAR, stereo camera and inertial measurement unit (IMU) via smoothing and mapping.

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Logo Logo

LVIO-SAM

A multi-sensor fusion odometry, LVIO-SAM, which fuses LiDAR, stereo camera and inertial measurement unit (IMU) via smoothing and mapping.
Demo Youtube · Demo Bilibili · Report Bug · Request Feature

Table of Contents
  1. About The Project
  2. Simulations environment
  3. How to run
  4. Roadmap
  5. Contributing
  6. License
  7. Contact
  8. Acknowledgements

About The Project

   This project is provide a a multi-sensor fusion odometry, LVIO-SAM, which fuses LiDAR,stereo camera and inertial measurement unit (IMU) via smoothing and mapping.

!!!Important Notes!!!

Simulations environment

   We modify the Gazebo world proposed in here and adding our own sensors to test our proposed method. We use Husky as the base robot and we modify the urdf. The robot is equiped with A velodyne VLP 16 lidar, stereo camera(640x480) and an IMU (50Hz).

Download the CMU campus model to sim_env/husky_gazebo/mesh/

cd YOUR_WORD_PATH/LVIO_SAM/sim_env/husky_gazebo/mesh/
unzip autonomus_exploration_environments.zip

I guess c campus model it to ~/.gazebo/models/.

cd autonomus_exploration_environments/
cp -r campus ~/.gazebo/models/

you can launch gazebo and find campu model to check if it is OK.

git clone https://github.com/TurtleZhong/LVIO-SAM.git

cd YOUR_PATH/LVIO-SAM
catkin build -DCMAKE_BUILD_TYPE=Release
source devel/setup.bash

roslaunch husky_gazebo husky_campus.launch

It will take a few minutes to load the world. please start a new terminal and launch the husky and sensor model.

roslaunch husky_gazebo spawn_husky.launch

If everything is OK, you will get this:

[Logo]

if you want control the robot, you can use the keyboard i,j,k,l etc.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

How to run in Docker

   Since our code is still being integrated. we will release it in the feature. But we provide a docker environment for users. So Docker should be correctly installed.

  Step1. Prepare Datasets

  1. KITTI datasets
wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0027/2011_09_30_drive_0027_sync.zip
wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_drive_0027/2011_09_30_drive_0027_extract.zip
wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_30_calib.zip
unzip 2011_09_30_drive_0084_sync.zip
unzip 2011_09_30_drive_0084_extract.zip
unzip 2011_09_30_calib.zip
python kitti2bag.py -t 2011_09_30 -r 0027 raw_synced .

That's it. You have a bag that contains your data.

╰─$ rosbag info kitti_2011_09_30_drive_0027_synced.bag 
path:        kitti_2011_09_30_drive_0027_synced.bag
version:     2.0
duration:    1:55s (115s)
start:       Sep 30 2011 12:40:25.07 (1317357625.07)
end:         Sep 30 2011 12:42:20.41 (1317357740.41)
size:        6.0 GB
messages:    35278
compression: none [4435/4435 chunks]
types:       geometry_msgs/TwistStamped [98d34b0043a2093cf9d9345ab6eef12e]
             sensor_msgs/CameraInfo     [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image          [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/Imu            [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/NavSatFix      [2d3a8cd499b9b4a0249fb98fd05cfa48]
             sensor_msgs/PointCloud2    [1158d486dd51d683ce2f1be655c3c181]
topics:      /gps/fix                                 1106 msgs    : sensor_msgs/NavSatFix     
             /gps/vel                                 1106 msgs    : geometry_msgs/TwistStamped
             /imu_correct                            11556 msgs    : sensor_msgs/Imu           
             /imu_raw                                11556 msgs    : sensor_msgs/Imu           
             /kitti/camera_color_left/camera_info     1106 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_color_left/image_raw       1106 msgs    : sensor_msgs/Image         
             /kitti/camera_color_right/camera_info    1106 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_color_right/image_raw      1106 msgs    : sensor_msgs/Image         
             /kitti/camera_gray_left/camera_info      1106 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_gray_left/image_raw        1106 msgs    : sensor_msgs/Image         
             /kitti/camera_gray_right/camera_info     1106 msgs    : sensor_msgs/CameraInfo    
             /kitti/camera_gray_right/image_raw       1106 msgs    : sensor_msgs/Image         
             /points_raw                              1106 msgs    : sensor_msgs/PointCloud2

Other source files can be found at KITTI raw data page.

  1. sim_env datasets

You can record datasets from our simulation environments or download the sample dataset from BaiduYun Link, the extract code is f8to.

  Get docker images and create your own datasets..

docker pull xinliangzhong/ubuntu-18.04-novnc-lvio-sam:v1

use docker images check the image is ok.

docker run -it --rm -p 8080:80 xinliangzhong/ubuntu-18.04-novnc-lvio-sam:v1

then open the Chrome browser and type http://127.0.0.1:8080/

open 3 terminal and run

cd /root
source .bashrc
cd work/ws_lvio/
source devel/setup.bash

roslaunch husky_gazebo husky_campus.launch
roslaunch husky_gazebo husky_campus.launch

It will take a few minutes to load the world. please start a new terminal and launch the husky and sensor model.

roslaunch husky_gazebo spawn_husky.launch

  

roslaunch husky_viz view_robot.launch

If everything is OK, you will get this in your chrome browser:

[Logo]

Run LVIO-SAM in docker

Follow the above steps to get the docker image, and open it in browser:

[Logo]

cd /root
source .bashrc
cd work/ws_lvio/
source devel/setup.bash

roslaunch lvio_sam run_kitti_debug_test_vo_between_factor.launch #for kitti dataset.
roslaunch lvio_sam run_kitti_debug_test_vo_between_factor.launch #for sim dataset.

we prepare 2 sample bag in the docker, you can use it directly.

rosbag play kitti_2011_09_30_drive_0027_synced.bag --pause --clock #for kitti dataset.
rosbag play 2021-08-04-09-49-56.bag --pause --clock #for sim dataset.

If everything is OK, you will get this in your chrome browser:

[Logo]

Roadmap

Contributing

Contributions are what make the open source community such an amazing place to be learn, inspire, and create. Any contributions you make are greatly appreciated.

  1. Fork the Project
  2. Create your Feature Branch (git checkout -b feature/AmazingFeature)
  3. Commit your Changes (git commit -m 'Add some AmazingFeature')
  4. Push to the Branch (git push origin feature/AmazingFeature)
  5. Open a Pull Request

License

Distributed under the MIT License.

Contact

Xinliang Zhong - @zxl - [email protected]

Project Link: https://github.com/TurtleZhong/LVIO-SAM

Acknowledgements

Issues
  • Run with a slam system

    Run with a slam system

    Hi @TurtleZhong,
    Thanks for your sharing, i'm trying to run the gazebo with lio-sam. When robot is stationary at origin, lio-sam begins to drift in z axis. I am not familar with gazebo, i am not sure i set the params correctly. Look forward for your suggestions and thanks in advance. I modify these params.

    • comment joystick teleop.launch in spawn_husky.launch.
    • disable enable_ekf in husky_control/launch/control.launch.
    • config vlp-16 params. <VLP-16 parent="base_link" name="velodyne" topic="/points_raw" hz="10" samples="1800" min_range="0.1" gpu="false" organize_cloud="true"> in husky.urdf.xacro.
    • lookup extrinsic between laser and imu. /imu/data in base_link frame_id,

    ➜ [/home/jxl] rosrun tf tf_echo velodyne base_link At time 0.000 - Translation: [-0.081, 0.000, -0.913] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] in RPY (radian) [0.000, -0.000, 0.000] in RPY (degree) [0.000, -0.000, 0.000]

    • modify imu noise and add yaw noise in husky.urdf.xacro.
        <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
          <robotNamespace>$(arg robot_namespace)</robotNamespace>
          <updateRate>50.0</updateRate>
          <bodyName>base_link</bodyName>
          <topicName>imu/data</topicName>
          <accelDrift>0.005 0.005 0.005</accelDrift>
          <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise> <!--default: 0.05 -->
          <!-- <rateDrift>0.005 0.005 0.005 </rateDrift> -->
          <!-- <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise> -->
          <!-- <headingDrift>0.005</headingDrift> -->
          <!-- <headingGaussianNoise>0.005</headingGaussianNoise> -->
          <yawDrift>0.0005 0.0005 0.0005</yawDrift>
          <yawGaussianNoise>0.005 0.005 0.005</yawGaussianNoise> 
          <gaussianNoise>0.005</gaussianNoise>
        </plugin>
    
    • set lio-sam params, imu noise is the default.

    sensor: velodyne N_SCAN: 16 Horizon_SCAN: 1800 imuAccNoise: 3.9939570888238808e-03
    imuGyrNoise: 1.5636343949698187e-03 imuAccBiasN: 6.4356659353532566e-05 imuGyrBiasN: 3.5640318696367613e-05 imuGravity: 9.80511 imuRPYWeight: 0.01 extrinsicTrans: [-0.081, 0.000, -0.913] extrinsicRot: [1, 0, 0, 0, 1, 0, 0, 0, 1] extrinsicRPY: [1, 0, 0, 0, 1, 0, 0, 0, 1]

    Best regards narutojxl

    opened by narutojxl 11
Owner
Xinliang Zhong
Visual SLAM & Sensor Fusion
Xinliang Zhong
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