/object_map

Representing and updating object identities in semantic SLAM

Primary LanguagePythonMIT LicenseMIT

object_map

By Or Tslil, Amit Elbaz

Paper link

ROS implementation of online semantic SLAM, based on the a published paper - "Representing and updating object identities in semantic SLAM". The object detection node is based on SSD300 architecture and forked from https://github.com/balancap/SSD-Tensorflow.

Example - Gazebo simulation

Watch the video

Example - Experiment

Watch the video

Pipelines

accessibility text

Dependencies

The following python packges are required:

Setup

  1. Download repository to your catkin workspace:
git clone https://github.com/or-tal-robotics/object_map.git
  1. Build:
catkin_make
  1. Install SSD image detector for ROS:
pip install -e object_detector_ssd_tf_ros
  1. Unzip SSD weights in object_map/object_detector_ssd_tf_ros/ssd/model/ssd_300_vgg.ckpt.zip

Runing

  • For a demo simulation use:
roslaunch gazebo_demo demo.launch
  • For a demo simulation working with the "Bhattacharyya coefficient" method of updating the map use:
roslaunch gazebo_demo Test.launch