Source code of an incremental and consistent 2-D line segment-based mapping approach proposed in

J. Wen, X. Zhang, H. Gao, J. Yuan, and Y. Fang, "CAE-RLSM: Consistent and efficient redundant line segment merging for online feature map building,", IEEE Transactions on Instrumentation and Measurement, 2020, 69(7): 4222-4237. [paper] [video]

The 2-D line segment feature is extarcted by a seeded region growing-based line segment extarction algorithm proposed in

H. Gao, X. Zhang, Y. Fang, and J. Yuan, "A line segment extraction algorithm using laser data based on seeded region growing," International Journal of Advanced Robotic Systems, 2018, 15(1): 1-10. [paper][code]

Please cite the above papers if you use this repo in your research.

This repo has been tested on Ubuntu 16.04 and 18.04. The line segment mapping module is integrated into a 2-D pose graph SLAM system, which uses open karto package as the front-end and g2o solver as the back-end. Please check out this repo to install g2o solver.

After installing g2o solver, please create and initialize a ROS workspace. We assume that your workspace is named catkin_ws. Then, run the following commands to clone and build open karto package:

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ros-perception/open_karto.git
$ cd ..
$ catkin_make -DCMAKE_BUILD_TYPE=Release

Please also install glog

sudo apt install libgoogle-glog-dev

After the above preparation, clone and build this package:

$ cd ~/catkin_ws/src/
$ git clone https://github.com/NKU-MobFly-Robotics/line_segment_mapping.git
$ cd ..
$ catkin_make -DCMAKE_BUILD_TYPE=Release

Finally, run the following commands to launch Karto SLAM with line segment mapping:

$ source ~/catkin_ws/devel/setup.bash
$ roslaunch line_segment_mapping line_segment_mapping.launch

Open a new terminal and play your rosbag:

$ rosbag play <rosbagfile> --clock