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Map Optimization for Size and Saliency

License: GNU General Public License v3.0

Makefile 1.12% Shell 0.20% C 89.96% C++ 1.13% Objective-C 0.09% JavaScript 7.12% HTML 0.30% CSS 0.08%

moss's Introduction

MOSS: Map Optimization for Size and Saliency

AprilSAM: Real-time Smoothing and Mapping

Copyright APRIL Lab.

https://april.eecs.umich.edu/

Build the code

install LCM: https://lcm-proj.github.io/
git clone https://github.com/xipengwang/MOSS
cd MOSS
make

Simulator

./MOSS-sim-manual -c ../config/simworld.config -f /tmp/sim.lcmlog -p 8888
./MOSS-sim -c ../config/simworld.config -g corridor-map.graph -c ../config/simworld-corridor.config -f /tmp/sim.lcmlog -p 8888

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Mapping

./MOSS-mapping -f /tmp/sim.lcmlog -p 8889

alt text

Localization

./MOSS-localization -g corridor-map.graph -f /tmp/training-folder -p 8890 [--resume-file][--bootstrapping-file]

alt text

moss's People

Contributors

xipengwang avatar

Watchers

James Cloos avatar YuehChuan avatar

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