BohemianRhapsodyz/semantic_exploration

Active Semantic Mapping and Pose Graph Spectral Analysis for Robot Exploration

C++MIT

Active Semantic Mapping and Pose Graph Spectral Analysis for Robot Exploration [IROS 2024]

Detected dependencies:

ROS Noetic
OctoMap
PCL
Eigen
OpenCV
Python3

catkin config --install
catkin build
source install/setup.bash
roslaunch orb_slam2_ros orb_slam2_exploration.launch # localization
python3 odom_transfer.py # only for transforming the ROS Msg format
roslaunch semantic_octomap semantic_mapping.launch # mapping
roslaunch semantic_exploration run_semantic_exploration.launch # planning

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Preprint coming soon.

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