SVIn2 is a tightly coupled Sonar-Visual-Inertial-Depth formulation of Simultaneous Localization and Mapping (SLAM) algorithm for real-time Underwater navigation. The package contains two modules:
- okvis_ros: Adaption of OKVIS (https://github.com/ethz-asl/okvis_ros) to fuse Sonar and Depth information in the tightly coupled formulation.
- pose_graph: Loop-closing module to enable real-time loop detection and pose-graph optimization based on the bag-of-binary-words library DBoW2.
This is a catkin package that wraps the pure CMake project. You will need to install the following dependencies,
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CMake,
sudo apt install cmake
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ROS (currently tested in: melodic and noetic). Read the instructions to install ROS Noetic. You will need the additional package pcl-ros and tf2-sensor-msgs.
sudo apt install ros-noetic-pcl-ros sudo apt install ros-noetic-tf2-sensor-msgs
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google-glog + gflags, BLAS & LAPACK, Eigen3
sudo apt install libgoogle-glog-dev libatlas-base-dev libeigen3-dev
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SuiteSparse, CXSparse, OpenCV and Boost
sudo apt install libsuitesparse-dev libopencv-dev sudo apt install libboost-dev libboost-filesystem-dev
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ceres-solver
git clone https://github.com/ceres-solver/ceres-solver.git cd ceres-solver git checkout 1.14.x mkdir build cd build cmake -DCMAKE_BUILD_TYPE=Release .. make -j8 sudo make install cd ../..
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brisk
wget https://www.doc.ic.ac.uk/~sleutene/software/brisk-2.0.8.zip unzip brisk-2.0.8.zip cd brisk mkdir build cd build cmake -DCMAKE_BUILD_TYPE=Release .. make -j8 sudo make install cd ../..
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Create ros workspace. Download SVIn and sonar driver. Then build catkin project:
mkdir -p ~/svin_ws/src cd ~/svin_ws/src git clone --branch v0.1 https://github.com/AutonomousFieldRoboticsLab/SVIn.git git clone https://github.com/AutonomousFieldRoboticsLab/imagenex831l.git # For Ubuntu 18.04/20.04 (ROS Noetic) git clone --branch ros-noetic [email protected]:AutonomousFieldRoboticsLab/sonar_rviz_plugin.git #For Ubuntu 16.04 git clone [email protected]:AutonomousFieldRoboticsLab/sonar_rviz_plugin.git cd .. catkin_make
Running it on our publicly available datasets: https://afrl.cse.sc.edu/afrl/resources/datasets/. If you follow "Datasets for Visual-Inertial-Based State Estimation Algorithms" link you will be directed to a google drive directory, under the 'Bus' and 'Cave' you will find ROS bagfile with Sonar topic named as '/imagenex831l/range' and '/imagenex831l/range_raw'.
Run the launch file for Cave:
source ~/svin_ws/devel/setup.bash
roslaunch okvis_ros svin_stereorig_v2.launch
Or, run the launch file for Bus:
source ~/svin_ws/devel/setup.bash
roslaunch okvis_ros svin_stereorig_v1.launch
In different terminal, run the bag file
rosbag play bagfile_name --clock -r 0.8
The pseudo ground truth trajectories obtained using COLMAP are in colmap_groundtruth folder. These trajectories are only accurate up to scale and evaluation should be done after scaling only.
Note: We plan to release the scale accurate trajectory using rig constraints soon.