Modifications are underway.

• Visual localization in pre-build pointcloud maps.
• OpenVSLAM and VINS-mono can be used. Modifications are underway.

• OpenVSLAM forked by MapIV

original repository (xdspacelab)

If you are using ROS, you only need to install g2o and DBoW2.

• ROS
• OpenCV >= 3.2
• Eigen
• PCL
• g2o
• DBow2
  • Please use the custom version released in https://github.com/shinsumicco/DBoW2

see also: openvslam. Modifications are underway.

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone --recursive https://github.com/MapIV/iris.git
cd ..
catkin_make

1. visual feature file: orb_vocab.dbow from URL
2. pointcloud map : kitti_00.pcd from URL
3. rosbag : kitti_00_stereo.bag from URL

roscd iris/../../../
# download sample data to here (orb_voceb.dbow, kitti_00.pcd, kitti_00_stereo.bag)
ls # > build devel install src orb_vocab.dbow kitti_00.pcd kitti_00_stereo.bag
roslaunch iris stereo_kitti00.launch
roslaunch iris rviz.launch # (on another terminal)
rosbag play kitti_00_stereo.bag # (on another terminal)

If the estimated position is misaligned, it can be corrected using 2D Pose Estimate in rviz.

roscd iris/../../../
# download sample data to here (orb_voceb.dbow, kitti_00.pcd, kitti_00_stereo.bag)
ls # > build devel install src orb_vocab.dbow kitti_00.pcd kitti_00_stereo.bag
roslaunch iris mono_kitti00.launch
roslaunch iris rviz.launch # (on another terminal)
rosbag play kitti_00_stereo.bag # (on another terminal)

If the estimated position is misaligned, it can be corrected using 2D Pose Estimate in rviz.

1. pointcloud map file (*.pcd)
2. rosbag (*.bag)
3. Config file for iris such as config/sample_iris_config.yaml
4. (only if you use OpenVSLAM) Config file for vSLAM such as config/sample_openvslam_config.yaml

roslaunch iris openvslam.launch iris_config_path:=... 
rosbag play yours.bag # (on another terminal)

Iris is provided under the BSD 3-Clause License. Modifications are underway.

The following files are derived from third-party libraries.

• iris/src/optimize/types_gicp.hpp : part of g2o (BSD)
• iris/src/optimize/types_gicp.cpp : part of g2o (BSD)
• iris/src/pcl_/correspondence_estimator.hpp : part of pcl (BSD)
• iris/src/pcl_/correspondence_estimator.cpp : part of pcl (BSD)
• iris/src/pcl_/normal_estimator.hpp : part of pcl (BSD)
• iris/src/pcl_/normal_estimator.cpp : part of pcl (BSD)

• T. Caselitz, B. Steder, M. Ruhnke, and W. Burgard, “Monocular camera localization in 3d lidar maps,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016, pp. 1926–1931.

http://www.lifelong-navigation.eu/files/caselitz16iros.pdf