Paper: Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements
Dataset: Boreas and KITTI-raw/360 (from CT-ICP) and Aeva.
Clone this repository and its submodules.
We use docker to install dependencies The recommended way to build the docker image is
docker build -t steam_icp \
--build-arg USERID=$(id -u) \
--build-arg GROUPID=$(id -g) \
--build-arg USERNAME=$(whoami) \
--build-arg HOMEDIR=${HOME} .
When starting a container, remember to mount the code, dataset, and output directories to proper locations in the container. An example command to start a docker container with the image is
docker run -it --name steam_icp \
--privileged \
--network=host \
-e DISPLAY=$DISPLAY \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v ${HOME}:${HOME}:rw \
steam_icp
(Inside Container) Go to the root directory of this repository and build STEAM-ICP
bash build.sh
Commands below should be run in the docker container.
# set to the root directory of this repository
WORKING_DIR=$(pwd)
# add library paths
EXTERNAL_ROOT=${WORKING_DIR}/cmake-build-Release/external/install/Release
LGMATH_ROOT=${WORKING_DIR}/cmake-build-Release/lgmath/install/Release
STEAM_ROOT=${WORKING_DIR}/cmake-build-Release/steam/install/Release
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${EXTERNAL_ROOT}/Ceres/lib:${EXTERNAL_ROOT}/glog/lib
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${LGMATH_ROOT}/lib:${STEAM_ROOT}/lib
# run experiments - configure algorithm and dataset in the params file
source ${WORKING_DIR}/steam_icp/install/setup.bash
ros2 run steam_icp steam_icp --ros-args --params-file ${WORKING_DIR}/steam_icp/config/default_config.yaml
# (optional) rviz for visualization - run following commands in another terminal
source /opt/ros/galactic/setup.bash
ros2 run rviz2 rviz2 -d ${WORKING_DIR}/steam_icp/rviz/steam_icp.rviz # launch rviz
In terms of outputs, you should get something similar to the files in the results directory.
See python scripts in the script directory for evaluation.
@ARTICLE{9968059,
author={Wu, Yuchen and Yoon, David J. and Burnett, Keenan and Kammel, Soeren and Chen, Yi and Vhavle, Heethesh and Barfoot, Timothy D.},
journal={IEEE Robotics and Automation Letters},
title={Picking up Speed: Continuous-Time Lidar-Only Odometry Using Doppler Velocity Measurements},
year={2023},
volume={8},
number={1},
pages={264-271},
doi={10.1109/LRA.2022.3226068}
}