WhiteFireFox/dsk3dom2

Implementation code of DS-K3DOM

DS-K3DOM

Implementation of DS-K3DOM : 3-D Dynamic Occupancy Mapping with Kernel Inference and Dempster-Shafer Evidential Theory

How to build

cd ~/catkin_ws/src
git clone https://github.com/JuyeopHan/DS-K3DOM.git
cd ~/catkin_ws && catkin_make

Implementation for simulation dataset

cd ~/catkin_ws
source devel/setup.bash
roslaunch ds_k3dom ds_k3dom_demo.launch

Implementation for indoor dataset

cd ~/catkin_ws
source devel/setup.bash
roslaunch ds_k3dom ds_k3dom_exp.launch

References

Juyeop Han*, Youngjae Min*, Hyeok-Joo Chae, Byeong-Min Jeong, and Han-Lim Choi, "DS-K3DOM: 3-D Dynamic Occupancy Mapping with Kernel Inference and Dempster-Shafer Evidential Theory", 2023 IEEE International Conference on Robotics and Automation (ICRA) [ArXiv] [youtube]

This code is extented from youngjae-min/k3dom.