mVIL-Fusion

Monocular Visual-Inertial-LiDAR Simultaneous Localization and Mapping in Challenging Environments

1. Introduction

1.1 Video

1.2 Dataset

Device

• MYNTEYE-D120 VI sensor https://www.mynteye.com/pages/mynt-eye-d
• LeiShen-C16 3d spinning LiDAR https://www.leishen-lidar.com/

Topic:

• imu_topic: /mynteye/imu/data_raw 200hz
• image_topic: /mynteye/left/image_mono 30hz
• lidar_topic: /lslidar_point_cloud 10hz

Description

Name	Size
3indoor.bag	6.0G
outdoor.bag	9.1G

Download:

• Link：https://pan.baidu.com/s/1ERiMsiewaP9C9_nWbJS-9w?pwd=h9m9
  
• Pin：h9m9

2. Usage

2.1 Build

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install gcc-7 g++-7
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 50 --slave /usr/bin/g++ g++ /usr/bin/g++-7

cd ~/catkin_ws/src
git clone https://github.com/Stan994265/mVIL-Fusion
cd ../
catkin_make -j1
source ~/catkin_ws/devel/setup.bash

2.2 Run Demo

For indoor:
roslaunch vils_estimator mynteye_leishen_indoor.launch
rosbag play ~/3indoor.bag

For outdoor:
roslaunch vils_estimator mynteye_leishen_outdoor.launch
rosbag play ~/outdoor.bag

For odometry only:
(Comment line "#define FOR_GLOBAL" in lidar_mapping/src/localMapping.cpp.)
roslaunch vils_estimator mynteye_leishen_odom.launch

2.3. Save Results

If you want to save global map, set the onboard parameter of the .launch file to 1.