limo

Lidar-Monocular Visual Odometry. This library is designed to be an open platform for visual odometry algortihm development. We focus explicitely on the simple integration of the following key methodologies:

Keyframe selection
Landmark selection
Prior estimation
Depth integration from different sensors.
Scale integration by groundplane constraint.

The core library keyframe_bundle_adjustment is a backend that should faciliate to swap these modules and easily develop those algorithms.

It is supposed to be an add-on module to do temporal inference of the optimization graph in order to smooth the result
In order to do that online a windowed approach is used
Keyframes are instances in time which are used for the bundle adjustment, one keyframe may have several cameras (and therefore images) associated with it
The selection of Keyframes tries to reduce the amount of redundant information while extending the time span covered by the optimization window to reduce drift
Methodologies for Keyframe selection:
- Difference in time
- Difference in motion
We use this library for combining Lidar with monocular vision.
Limo2 on KITTI is LIDAR with monocular Visual Odometry, supported with groundplane constraint
Video: https://youtu.be/wRemjJBjp64

Details

This work was accepted on IROS 2018. See https://arxiv.org/pdf/1807.07524.pdf .

If you refer to this work please cite:

@inproceedings{graeter2018limo, title={LIMO: Lidar-Monocular Visual Odometry}, author={Graeter, Johannes and Wilczynski, Alexander and Lauer, Martin}, booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages={7872--7879}, year={2018}, organization={IEEE} }

Please note that LIMO2 differs from the publication. We enhanced the speed a little and added additional groundplane reconstruction for pure monocular visual odometry and a combination of scale from LIDAR and the groundplane (best performing on KITTI).

Installation

Requirements

In any case:

ceres:
- follow the instructions on http://ceres-solver.org/installation.html
- you will need sudo make install to install the headers.
- tested with libsuitesparse-dev from standard repos.
png++:

 sudo apt-get install libpng++-dev

install ros:
- follow the instructions on https://wiki.ros.org/kinetic/Installation.
- you will need to install ros-full (for pcl).
- don't forget to source your ~/.bashrc afterwards.
install catkin_tools:

sudo apt-get install python-catkin-tools

install opencv_apps:

sudo apt-get install ros-kinetic-opencv-apps

install git:

sudo apt-get install git

Build

initiate a catkin workspace:
```
cd ${your_catkin_workspace}
catkin init
```

clone limo into src of workspace:

mkdir ${your_catkin_workspace}/src
cd ${your_catkin_workspace}/src
git clone https://github.com/johannes-graeter/limo.git

clone dependencies and build repos

cd ${your_catkin_workspace}/src/limo
bash install_repos.sh

unittests:

cd ${your_catkin_workspace}/src/limo
catkin run_tests --profile limo_release

Run

get test data from https://www.mrt.kit.edu/graeterweb/04.bag
1. this is a bag file generated from Kitti sequence 04 with added semantic labels.
2. there is more under the same address all named ??.bag (supported: 00.bag, 01.bag, 04.bag)
in different terminals
1. roscore
2. rosbag play 04.bag -r 0.1 --pause --clock
3. ```
source ${your_catkin_workspace}/devel_limo_release/setup.sh
roslaunch demo_keyframe_bundle_adjustment_meta kitti_standalone.launch
```
4. unpause rosbag (hit space in terminal)
5. rviz -d ${your_catkin_workspace}/src/demo_keyframe_bundle_adjustment_meta/res/default.rviz
watch limo trace the trajectory in rviz :)
Before submitting an issue, please have a look at the section Known issues.

Todo

runtime is ok for individual modules, however communication between nodes must be enhanced to ensure online usage (nodelets...).
Make it overall faster.
Test on our own test car.

Try it out

If you just want to give it a quick peek, I prepared a ready-to-use virtualbox image (packed with Ubuntu 16.04.04, ros kinetic and all dependencies for limo).

download it from https://www.mrt.kit.edu/graeterweb/limo_full.ova.
Password for the vm-image is "1234".
Find all modules in ~/workspaces/limo/ .
Run example (~/04.bag) as described above.
Note that the runtime in the virtual machine is slower than on a normal system.

Known issues

Unittest of LandmarkSelector.voxel fails with libpcl version 1.7.2 or smaller (just 4 landmarks are selected). Since this works with pcl 1.8.1 which is standard for ros melodic, this is ignored. This should lower the performance of the software only by a very small amount.

chenxianbo/limo