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tsdf_localization

6D Monte Carlo Localization in 3D TSDF maps

https://github.com/uos/tsdf_localization

Science Score: 75.0%

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    CITATION.cff file
    Found CITATION.cff file
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    DOI references
    Found 3 DOI reference(s) in README
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    Academic publication links
    Links to: arxiv.org, ieee.org
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    Academic email domains
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    Institutional organization owner
    Organization uos has institutional domain (kbs.informatik.uni-osnabrueck.de)
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    Low similarity (12.1%) to scientific vocabulary

Keywords

lidar localization mcl robotics ros tsdf
Last synced: 6 months ago · JSON representation ·

Repository

6D Monte Carlo Localization in 3D TSDF maps

Basic Info
  • Host: GitHub
  • Owner: uos
  • License: bsd-3-clause
  • Language: C++
  • Default Branch: main
  • Homepage:
  • Size: 49.2 MB
Statistics
  • Stars: 40
  • Watchers: 7
  • Forks: 3
  • Open Issues: 1
  • Releases: 0
Topics
lidar localization mcl robotics ros tsdf
Created over 3 years ago · Last pushed 11 months ago
Metadata Files
Readme License Citation

README.md

TSDF-based 3D Monte Carlo Localization ROS Package

This package consists of several nodes and tools to perform a 6D Monte Carlo Localization of robots equipped with a 3D LiDAR in 3D TSDF maps. The sensor update is massively accelerated by a GPU-based implementation, but can also be executed on the CPU.

Demo GIF

Prerequisites

  • ROS Noetic (ros-noetic-desktop-full)
  • ROS packages: See package.xml
  • OpenMP (for CPU acceleration)
  • CUDA (optional, recommended for acceleration)

Installation

  1. Clone this repository into your ROS workspace console $ git clone --recursive https://github.com/uos/tsdf_localization.git

  2. Make sure have also installed the required external packages or also cloned them into the local ROS workspace

  3. Build the ROS workspace console $ catkin build

Demo

A quick startup including how to use tsdflocalization within your package is shown here: https://github.com/uos/tsdflocalization_demo.git

Citation

Please reference the following papers when using tsdf_localization in your scientific work.

bib @inproceedings{eisoldt2023tsdfmcl, author={Eisoldt, Marc and Mock, Alexander and Porrmann, Mario and Wiemann, Thomas}, booktitle={2023 Seventh IEEE International Conference on Robotic Computing (IRC)}, title={{Towards 6D MCL for LiDARs in 3D TSDF Maps on Embedded Systems with GPUs}}, year={2023}, pages={158-165}, doi={10.1109/IRC59093.2023.00035} }

The paper is available on IEEE Xplore and as preprint on arXiv.

bib @article{eisoldt2025tsdfmcl, author={Eisoldt, Marc and Mock, Alexander and Wiemann, Thomas and Porrmann, Mario}, title={Efficient Global 6D Localization in 3D TSDF Maps Using Point-wise and Scan-wise Reduction Methods on Embedded GPUs}, journal={International Journal of Semantic Computing}, doi={10.1142/S1793351X25410053} }

The paper is available on World Scientific.

Nodes

mcl_3d

Starts MCL in a given TSDF map.

Subscribed Topics:

initialpose (geometry_msgs/PoseWithCovarianceStamped)

Initial pose guess can be provided using RViz.

/cloud (sensor_msgs/PointCloud2)

PointCloud topic for sensor update.

/odom (nav_msgs/Odometry)

Odometry message for motion update.

(optional) /imu_data (sensor_msgs/Imu)

Services

Start global localization:

/global_localization

Contributions

We are happy about issues and pull requests or other feedback. Please let us know if something did not work out as expected.

Owner

  • Name: Osnabrück University, Knowledge Based Systems Group
  • Login: uos
  • Kind: organization
  • Location: Osnabrück, Germany

Citation (CITATION.cff) 

cff-version: 1.2.0
preferred-citation:
  title: "Towards 6D MCL for LiDARs in 3D TSDF Maps on Embedded Systems with GPUs"
  doi: "10.1109/IRC59093.2023.00035"
  year: "2023"
  type: conference-paper
  collection-title: "2023 Seventh IEEE International Conference on Robotic Computing (IRC)"
  url: https://ieeexplore.ieee.org/document/10473560
  codeurl: https://github.com/uos/tsdf_localization
  authors:
    - family-names: Eisoldt
      given-names: Marc
    - family-names: Mock
      given-names: Alexander
      orcid: 0009-0004-7800-9774
    - family-names: Porrmann
      given-names: Mario
    - family-names: Wiemann
      given-names: Thomas
      orcid: 0000-0003-0710-872X

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