Active Semantic Mapping and Pose Graph Spectral Analysis for Robot Exploration [IROS 2024]

Detected dependencies:

• ROS Noetic
• OctoMap
• PCL
• Eigen
• OpenCV
• Python3

catkin config --install
catkin build
source install/setup.bash
roslaunch orb_slam2_ros orb_slam2_exploration.launch # localization
python3 odom_transfer.py # only for transforming the ROS Msg format
roslaunch semantic_octomap semantic_mapping.launch # mapping
roslaunch semantic_exploration run_semantic_exploration.launch # planning

Citation

@inproceedings{zhang2024active,
  title={Active Semantic Mapping and Pose Graph Spectral Analysis for Robot Exploration},
  author={Zhang, Rongge and Bong, Haechan Mark and Beltrame, Giovanni},
  booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={13787--13794},
  year={2024},
  organization={IEEE}
}

Acknowledgments

• SSMI
• Explorb
• ORB-SLAM
• Semantic mapping

License

Contributors

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