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Overview and Introduction

  • Introduction to the Maplab Framework
  • Main Papers
  • Additional Citations
  • Related Research
    • Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps
    • Collaborative Navigation for Flying and Walking Robots
    • Real-time visual-inertial mapping, re-localization and planning onboard mavs in unknown environments
    • Appearance-based landmark selection for efficient long-term visual localization
    • Reshaping our model of the world over time
    • Keep it brief: Scalable creation of compressed localization maps
    • The gist of maps-summarizing experience for lifelong localization
    • Real-time visual-inertial localization for aerial and ground robots
    • Map API-scalable decentralized map building for robots
    • Monocular Visual-Inertial SLAM for Fixed-Wing UAVs Using Sliding Window Based Nonlinear Optimization
    • Robust map generation for fixed-wing UAVs with low-cost highly-oblique monocular cameras
    • Erasing bad memories: Agent-side summarization for long-term mapping
    • Map quality evaluation for visual localization
    • Visual place recognition with probabilistic voting
  • FAQ
  • Known Issues

Installation

  • Installing on Ubuntu
  • Compilation and Debugging

Datasets

  • Sample Datasets

Tutorials for ROVIOLI (Online frontend)

  • ROVIOLI Introduction
  • Running ROVIOLI in VIO mode: calibartion files, rostopics, bag/topic mode, visualization
  • Running ROVIOLI in Localization mode
  • Multi-session mapping with ROVIOLI

Tutorials for using maplab (Offline tools) - Basics

  • Basic Console Usage
  • Parameters (Gflags)
  • Console map management: load, save, basic visualization
  • Inspecting and visualizing a map
  • Map visualization: see your map in RViz!
  • Preparing a single session map: optimization, loop-closure
  • Understanding loop-closure
  • Optimizing VI-Maps
  • Preparing a multi-session map: map anchoring, loop-closure, pose-graph relaxation
  • Dense Reconstruction: attaching resources to map, available reconstruction tools
  • Resource Importer

Tutorials for using maplab (Offline tools) - Use-cases

  • Multi-session use case: CLA, multi-floor use-case
  • Map sparsification: make your mapping more efficient
  • Stereo Dense Reconstruction: EuRoC, multi-session reconstruction use-case
  • External Features

Tutorials for using maplab server (Online)

  • Maplab Server Euroc Experiment
  • Setting up
  • Starting the experiment

Hardware integration and sensor calibration

  • Sensor Calibration Format: ncamera, imu-sigmas
  • Initial sensor calibration with Kalibr
  • Sensor calibration refinement
  • Intel RealSense ZR300
  • VersaVIS

Tutorials for extending maplab

  • Using the MapManager
  • Using Timing and Statistics
  • Coding Examples: Creating a custom console plugin
  • Coding Examples: Woriking with the VI Map
  • Console Plugin System

Developement Guidelines

  • Importing maplab to Eclipse
  • Contributing to maplab
  • Header Include Guide
  • Debugging applications
  • Expressing frame transformations in code
  • Verbosity Policy

Additional Formats

  • CSV Dataset Format
maplab
  • Related Research
  • Edit on GitHub

Related Research¶

Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps¶

bibtex:

@article{blochliger2017topomap,
  title={Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps},
  author={Bl{\"o}chliger, Fabian and Fehr, Marius and Dymczyk, Marcin and Schneider, Thomas and Siegwart, Roland},
  journal={arXiv preprint arXiv:1709.05533},
  year={2017}
}

Video:

"Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps by Fabian Bloechliger

Collaborative Navigation for Flying and Walking Robots¶

bibtex:

@inproceedings{fankhauser2016collaborative,
  title={Collaborative navigation for flying and walking robots},
  author={Fankhauser, P{\'e}ter and Bloesch, Michael and Kr{\"u}si, Philipp and Diethelm, Remo and Wermelinger, Martin and Schneider, Thomas and Dymczyk, Marcin and Hutter, Marco and Siegwart, Roland},
  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
  pages={2859--2866},
  year={2016},
  organization={IEEE}
}

Video:

"Collaborative Navigation for Flying and Walking Robots" by Peter Fankhauser

Real-time visual-inertial mapping, re-localization and planning onboard mavs in unknown environments¶

bibtex:

@inproceedings{burri2015real,
  title={Real-time visual-inertial mapping, re-localization and planning onboard mavs in unknown environments},
  author={Burri, Michael and Oleynikova, Helen and Achtelik, Markus W and Siegwart, Roland},
  booktitle={Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on},
  pages={1872--1878},
  year={2015},
  organization={IEEE}
}

Video:

"Real-time visual-inertial mapping, re-localization and planning onboard mavs in unknown environments" by Michael Burri

Appearance-based landmark selection for efficient long-term visual localization¶

bibtex:

@inproceedings{burki2016appearance,
  title={Appearance-based landmark selection for efficient long-term visual localization},
  author={B{\"u}rki, Mathias and Gilitschenski, Igor and Stumm, Elena and Siegwart, Roland and Nieto, Juan},
  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
  pages={4137--4143},
  year={2016},
  organization={IEEE}
}

Video:

"Appearance-based landmark selection for efficient long-term visual localization" by Mathias Buerki

Reshaping our model of the world over time¶

bibtex:

@inproceedings{fehr2016reshaping,
  title={Reshaping our model of the world over time},
  author={Fehr, Marius and Dymczyk, Marcin and Lynen, Simon and Siegwart, Roland},
  booktitle={Robotics and Automation (ICRA), 2016 IEEE International Conference on},
  pages={2449--2455},
  year={2016},
  organization={IEEE}
}

Video:

"Reshaping our model of the world over time" by Marius Fehr

Keep it brief: Scalable creation of compressed localization maps¶

bibtex:

@inproceedings{dymczyk2015keep,
  title={Keep it brief: Scalable creation of compressed localization maps},
  author={Dymczyk, Marcin and Lynen, Simon and Bosse, Michael and Siegwart, Roland},
  booktitle={Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on},
  pages={2536--2542},
  year={2015},
  organization={IEEE}
}

Video:

"Keep it brief: Scalable creation of compressed localization maps" by Marcin Dymczyk

The gist of maps-summarizing experience for lifelong localization¶

bibtex:

@inproceedings{dymczyk2015gist,
  title={The gist of maps-summarizing experience for lifelong localization},
  author={Dymczyk, Marcin and Lynen, Simon and Cieslewski, Titus and Bosse, Michael and Siegwart, Roland and Furgale, Paul},
  booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},
  pages={2767--2773},
  year={2015},
  organization={IEEE}
}

Video:

"The gist of maps-summarizing experience for lifelong localization" by Marcin Dymczyk

Real-time visual-inertial localization for aerial and ground robots¶

bibtex:

@inproceedings{oleynikova2015real,
  title={Real-time visual-inertial localization for aerial and ground robots},
  author={Oleynikova, Helen and Burri, Michael and Lynen, Simon and Siegwart, Roland},
  booktitle={Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on},
  pages={3079--3085},
  year={2015},
  organization={IEEE}
}

Video:

"Real-time visual-inertial localization for aerial and ground robots" by Helen Oleynikova

Map API-scalable decentralized map building for robots¶

bibtex:

@inproceedings{cieslewski2015map,
  title={Map API-scalable decentralized map building for robots},
  author={Cieslewski, Titus and Lynen, Simon and Dymczyk, Marcin and Magnenat, St{\'e}phane and Siegwart, Roland},
  booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},
  pages={6241--6247},
  year={2015},
  organization={IEEE}
}

Video:

"Map API-scalable decentralized map building for robots" by Titus Cieslewski

Monocular Visual-Inertial SLAM for Fixed-Wing UAVs Using Sliding Window Based Nonlinear Optimization¶

bibtex:

@inproceedings{hinzmann2016monocular,
  title={Monocular Visual-Inertial SLAM for Fixed-Wing UAVs Using Sliding Window Based Nonlinear Optimization},
  author={Hinzmann, Timo and Schneider, Thomas and Dymczyk, Marcin and Schaffner, Andreas and Lynen, Simon and Siegwart, Roland and Gilitschenski, Igor},
  booktitle={International Symposium on Visual Computing},
  pages={569--581},
  year={2016},
  organization={Springer}
}

Robust map generation for fixed-wing UAVs with low-cost highly-oblique monocular cameras¶

bibtex:

@inproceedings{hinzmann2016robust,
  title={Robust map generation for fixed-wing UAVs with low-cost highly-oblique monocular cameras},
  author={Hinzmann, Timo and Schneider, Thomas and Dymczyk, Marcin and Melzer, Amir and Mantel, Thomas and Siegwart, Roland and Gilitschenski, Igor},
  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
  pages={3261--3268},
  year={2016},
  organization={IEEE}
}

Erasing bad memories: Agent-side summarization for long-term mapping¶

bibtex:

@inproceedings{dymczyk2016erasing,
  title={Erasing bad memories: Agent-side summarization for long-term mapping},
  author={Dymczyk, Marcin and Schneider, Thomas and Gilitschenski, Igor and Siegwart, Roland and Stumm, Elena},
  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
  pages={4572--4579},
  year={2016},
  organization={IEEE}
}

Map quality evaluation for visual localization¶

bibtex:

@inproceedings{merzic2017map,
  title={Map quality evaluation for visual localization},
  author={Merzi{\'c}, Hamza and Stumm, Elena and Dymczyk, Marcin and Siegwart, Roland and Gilitschenski, Igor},
  booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on},
  pages={3200--3206},
  year={2017},
  organization={IEEE}
}

Visual place recognition with probabilistic voting¶

bibtex:

@inproceedings{gehrig2017visual,
  title={Visual place recognition with probabilistic voting},
  author={Gehrig, Mathias and Stumm, Elena and Hinzmann, Timo and Siegwart, Roland},
  booktitle={Robotics and Automation (ICRA), 2017 IEEE International Conference on},
  pages={3192--3199},
  year={2017},
  organization={IEEE}
}
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