amock/micp_hilti

micp_hilti

The following instructions explain how MICP-L accuracy was evaluated on Hilti Datasets. All evaluations were done on a CPU only part of MICP-L.

System Requirements

We tested these scripts on:

• Ubuntu 20.04
• ROS noetic
• AMD Ryzen 7

Download

Download/Clone this package anywhere in your system. Proceed with next step.

Dependencies

Put the following dependencies in your ROS-workspace:

RMCL

• Link: https://github.com/uos/rmcl
• Branch: main

pointcloud_motion_deskew

Since MICP-L does not interpolate between start and end of a scan we use this package to compensate for that.

• Link: https://github.com/norlab-ulaval/pointcloud_motion_deskew
• Branch: melodic

imu_filter_madgwick

For IMU as prior odometry estimation:

user@pc:~$ sudo apt-get install ros-noetic-imu-filter-madgwick

amock_tools

Some tools for tf-preprocessing of Hilti Bags. Move from "packages" folder to your workspace.

Optional: Mesh visualization with rmagine_ros and mesh_tools

For visualization of the mesh map in RViz

• Link: https://github.com/uos/rmagine_ros
• Branch: main

Hilti Bag Files

Download Hilti bagfiles

• LAB_Survey_1.bag
• LAB_Survey_2.bag
• uzh_tracking_area_run2.bag
• uzh_tracking_area_run5.bag

into the root folder of this repository. Extract them with rosbag decompress.

Execution

Go to the root folder of this repository and execute

LAB Survey 1

user@pc:~/micp_hilti$ roslaunch LAB_Survey_1_micp_imu.launch

LAB Survey 2

user@pc:~/micp_hilti$ roslaunch LAB_Survey_2_micp_imu.launch

UZH Tracking Area 2

user@pc:~/micp_hilti$ roslaunch uzh_tracking_area_run2_micp_imu.launch

UZH Tracking Area 5

user@pc:~/micp_hilti$ roslaunch uzh_tracking_area_run5_micp_imu.launch

micp_hilti_uzh_x2.gif: