SegMap is a map representation based on 3D segments allowing for robot localization, environment reconstruction, and semantics extraction. The SegMap code is open-source (BSD License) and has been tested under Ubuntu 14.04 & 16.04 and ROS Indigo & Kinetic.
Please consult our paper, video and wiki for the algorithm description and for instructions on running demonstrations.
Note 25.04.2018: We have open sourced the implementation behind our RA-L paper "Incremental Segment Based Localization in 3D Point Clouds"! See the paper and a video demonstration. The updated documentation and tutorials are coming soon!
Note 20.4.2018: This repository has been renamed SegMap, to reflect the latest development presented in our paper "SegMap: 3D Segment Mapping using Data-Driven Descriptors". See the video demonstration. For clarity: in the instructions below, the name SegMatch will still be used to refer the the first iteration of the pipeline presented in the original SegMatch paper (video). The updated documentation and tutorials are coming soon!
We recently uploaded a second video featuring SegMatch in a multi-robot configuration.
The following configuration was tested under Ubuntu 14.04 and ROS indigo. Please see the final note if you want to compile under ROS Kinetic.
First install the required system packages:
$ sudo apt-get install python-wstool doxygen autoconf
Then use wstool for installing catkin dependencies:
$ cd ~/catkin_ws/src
$ wstool init
$ wstool merge segmap/dependencies.rosinstall
$ wstool update
Finally build the segmapper package which will compile all SegMatch modules:
$ cd ~/catkin_ws
$ catkin build -DCMAKE_BUILD_TYPE=Release segmapper
See this link for installing catkin_tools. Building dependencies will require some time according to which new packages need to be built (eg. Building the pcl_catkin package can take up to two hours). Building pcl_catkin might fail if you do not have sufficient RAM. It can help to add -j2 to catkin build in order to limit the parallel jobs and reduce memory usage.
Consult the wiki for instructions on running the demonstrations.
Note: If you are using ROS Kinetic, you might want to run the following command in your catkin workspace prior to building the packages:
$ catkin config --merge-devel
We would be very grateful if you would contribute to the code base by reporting bugs, leaving comments and proposing new features through issues and pull requests. Please see the dedicated wiki page on this topic and feel free to get in touch at rdube(at)ethz.ch. Thank you!
Thank you for citing our SegMatch paper if you use any of this code:
@inproceedings{segmatch2017,
title={SegMatch: Segment based place recognition in 3D point clouds},
author={Dub{\'e}, Renaud and Dugas, Daniel and Stumm, Elena and Nieto, Juan and Siegwart, Roland and Cadena, Cesar},
booktitle={International Conference on Robotics and Automation (ICRA)},
pages={5266--5272},
year={2017},
organization={IEEE}
}