Difference between revisions of "MoonSlam"

Latest revision as of 10:37, 23 April 2013

PhD Thesis

Simone Ceriani PhD Thesis, download here or on POLITesi

Goal

The aim of the moonSlam project is to create a generic software framework for SLAM (Simultaneous Localization And Mapping).

Motivation

Download

Use the DEI svn system (you need a valid account):

• cd in your workspace directory
• to download all the project: svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/
• to download only the "trunk": svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/trunk/
• to download only a "tag": svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/<tagname>/
  • (you can know all the tags by svn ls https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/)

Use --username <username> after the svn command if you neeed to specify your username and password

SVN principal commands

Check this, seems to be a good tutorial: [[1]]

• do svn up or svn update to check the status of repository
• with svn add you can add the unversioned elements (it is recursive)
• with svn stat you can check your svn status
• with svn ci -m"comments" you can checkin your files

How to says to svn that some folders or files has to be ignored

This is the common situtation

• you want to avoid the versioning of .settings, build and doc folder (that are shown with a '?' in the svn stat result)
• do svn propedit .
• add in the editor (nano, vim or something similar) the folders or files that you want to ignore (one per line).
• run svn stat, the '?' should disappear, because the elements are ignored.

Useful readings

Introduction to SLAM

• Wikipedia [2]
• IEEE Slam tutorials
  • Simultaneous Localization and Mapping: Part I [3]
  • Simultaneous Localization and Mapping: Part II [4]

• The SSS06 (SLAM Summer School) pages, refer to "lectures" and "Practicals" [5]
• The BMVC 2007 tutorials [6]
• Joan Solà have an on line course on SLAM here. It's based on a Matlab toolbox developed by Solà (http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html)

EKF

• Probabilistic Robotics [7]

Computer Vision

• Computer Vision: Algorithms and Applications [8]

A freely available book about Computer Vision. Some chapters are dedicated to features recognition.

Useful Materials

• Joan Solà materials on quaternions [9], EKF mathematics for SLAM [10] and PhD Thesis [11]

Some thesis (Bachelor, MS or PhD)

• Visual
  • Migliore Davide (PhD) []
  • MarzoratiDaniele (PhD) []
  • RigamontiRoberto (MS) []
  • Joan Solà (Phd) [12]

• Laser
  • Mauro Brenna []
  • Mladen Mazuran & Matteo Luperto (Bachelor) []

• Computer Vision
  • MassimoQuadrana (Bachelor) []

• CI-Slam
  • Pedro Piniés Rodriguez (Phd) [13]

How to compile

On a "clean" Ubuntu 10.04.2 32bit installation, first of all, you need to install these packages:

• subversion cmake g++ doxygen

Then you have to install all the libraries required by moonSlam:

• liblog4cpp5-dev libxml++2.6-dev libpng3-dev libboost-all-dev

moonSlam requires packages that are not available in Ubuntu standard repositories:

• libconfig++1.4.6

Download it from here and then install it, following the instructions written in INSTALL file.

• Eigen 3.0 library

Download it from here and then install it, following the instructions written in INSTALL file.

• Opencv 2.2

Download it from here and then install it, following the instruction written here.

Opencv2.2 needs eigen2 library. Before compiling it, install eigen2 library (apt-get install libeigen2-dev).

You need also mrpt from the svn

svn checkout http://mrpt.googlecode.com/svn/trunk/ mrpt-read-only
cd mrpt-read-only/
mkdir build
cd build/
cmake ..
make
sudo make install

Now you can compile moonSlam.

• open a shell inside trunk folder
• mkdir build
cd build
• now you can make one of these folder
  • Debug
  • Release
  • RelWithDebInfo
  • MinSizeRel
• cd in the created folder (e.g. cd Debug)
• cmake ../..
• make

If everything goes fine, compiled binaries and libraries will be written inside trunk/build/<yourChoice> folder (keeping trunk folder "clean").

Note: performance, executable size and other aspects depends on the choosen build configuration. See the CMakeLists.txt file to know which compilations flags are used.

Note(2): MoonSlam compile with the libconfig++ proposed in Ubuntu repository, but some configuration files use the @include directive, that is supported by the libconfig++1.4.6.

Create the documentation

go in the base folder (e.g. trunk) and type doxygen <LibraryName>.doxyfile

you will find documentation in doc/<LibraryName>/html folder

for each library

Links

Andrew Davison home page

Joan Solà home page

Robotics, Perception and Real Time group, Zaragoza