Light Detection And Ranging (LiDAR) plays an important role in SLAM (Simultaneous Localization and Mapping) and is considered to be the most important perceptual device.Until a few years ago, mechanical LiDAR was said to be the mainstream, but nowadays, MEMS (microelectromechanical system) type LiDAR is becoming more popular as a cost-effective and lightweight solution, and it is becoming a small robot. Installation is accelerating.
This article introduces the program source code for SLAM using RealSense L515, a solid-state LiDAR camera that uses Intel's proprietary MEMS mirror scanning technology.This program source code released on GitHub this time has been proven to provide accurate localization and high quality mapping as well as accuracy and efficiency compared to using Intel's standard program, so please use SLAM. I hope it will be helpful when using it.
This article refers to the information on RealSense GitHub SSL_SLAM / SSL_SLAM2.
Lightweight 3-D Localization and Mapping for Solid-State LiDAR (Intel Realsense L515 as an example)
https://github.com/wh200720041/ssl_slam
https://github.com/wh200720041/ssl_slam2 (Update information)
About the program source code for SLAM
First of all, solid-state LiDAR has higher scan frequency and angular resolution when compared to mechanical LiDAR, but the limited field of view (FoV) creates uncertainty with the existing LiDAR SLAM algorithm.This new sensing device requires a more robust and computationally efficient SLAM method.
To this end, the program source code has been proposed as a new SLAM framework for solid-state LiDAR, including feature point extraction, odometry estimation (movement distance and rotation angle), and map construction.The proposed method is being evaluated on warehouse robots and handheld devices.
About equipment and technology used
What is the Intel RealSense Solid State LiDAR Camera L515?
The ultra-compact, high-resolution LiDAR depth camera "Intel RealSense LiDAR Camera L515 (L515)" is a compact and flexible camera with Intel's original MEMS (Micro Electro Mechanical System) mirror scanning technology, which is one of the solid-state systems. High depth camera, ideal for developing indoor applications that require high resolution and high precision depth data.Since its release, it has been incorporated in various research and development to take advantage of its characteristics.
For example, it is installed in telepresence robots and automatic guided vehicles (AGVs) that specialize in the automation of transportation and transportation operations, and is introduced in DIM Weight software, which "easily measures the size of boxes". However, it is expected to be used for storage of luggage and products in warehouses and for logistics.
In addition to its functions, the compactness of the L515 body (about the size of a tennis ball) and the weight of only 100g (about the size of a rice ball at a convenience store) make it less susceptible to weight restrictions when mounted on mobile robots. Also, it is said that problems such as the camera itself becoming an obstacle are unlikely to occur.In addition, it is highly evaluated for its sophisticated design that does not spoil the landscape of the installation location.
Please refer to this article if you like
What is MEMS technology?
MEMS technology installed in L515 is an abbreviation for Micro-Electro-Mechanical System, which is a miniaturized electrical element and mechanical element manufactured using microfabrication technology to achieve miniaturization and high performance. Devices and systems such as sensors, actuators, and microelectronics that incorporate the above on a single board. The minute three-dimensional structure of MEMS is attracting attention because it can handle a wide variety of input / output signals while consuming low power.
What is an AGV?
AGVs (automatic guides vehicles) are automatic guided vehicles that carry goods by traveling unmanned and automatically on designated routes.On the other hand, AMR (autonomous mobile robot) is an autonomous driving robot that can automatically avoid obstacles such as people and objects.Attention is being paid to the automation of transportation operations in response to social issues such as work and work reduction due to labor shortages.
About the executable SSL-SLAM / SSL-SLAM2 framework
The code I will introduce is an implementation of the paper "Lightweight 2021-D Localization and Mapping for Solid-State LiDAR" published in IEEE Robotics and Automation Letters, 3.
If you want to enable save map and test localization separately,SSL_SLAM2See (SSL-SLAM Extension Work) to separate the mapping and localization modules.
supported language: C ++, CMake
Edit: Wang Han |, Nanyang Technological University (NTU, Nanyang Technological University), Singapore
1. Solid state LiDAR (example)
1-1. Reconstruction of the scene (example)
1-2. Construction of XNUMXD building model by SfM (Structure from Motion) (example)
1-3. Localization and mapping framework using L515
2. Preparation (prerequisites)
2-1.Operating System
ROS Melodic installation on Ubuntu 64-bit 18.04 *
* The supported Ubuntu version of the ROS package varies depending on the version.
* To install the open source Robot Operating System (ROS) please use this form.
2-2: Ceres Solver
Installing the efficient nonlinear optimization library Ceres please use this form.
2-3. PCL
Point Cloud Library (PCL) installation please use this form.
* Tested with 1.8.1
2-4.OctoMap
Installing OctoMap for SLAM map representation for robots and self-driving cars please use this form.
sudo apt-get install ros-melodic-octomap*
2-5. Orbit information for visualization
For visualization purposes, this package ishector trajectory serverUse the.You can install the package in the following ways:
sudo apt-get install ros-melodic-hector-trajectory-server
Or if you don't need orbit visualizationhector trajectory serverYou can also delete the node.
3. Build
3-1. Clone the repository
cd ~/catkin_ws/src
git clone https://github.com/wh200720041/ssl_slam.git
cd ..
catkin_make
source ~/catkin_ws/devel/setup.bash
3-2. Download ROSbag for testing
If you do not have L515, you can download the recorded test data (about 5GB).
Unzip the file directly under [home / user / Downloads (default)].
cd ~/Downloads
unzip ~/Downloads/L515_test.zip
3-3. Start ROS
Can be done if you want to create a map at the same time
roslaunch ssl_slam ssl_slam_mapping.launch
Or create a location estimate (probability of environmental map)
roslaunch ssl_slam ssl_slam_octo_mapping.launch
If you only need localization, you can see the run
roslaunch ssl_slam ssl_slam.launch
4. L515 setup
If you have an L515, follow the setup steps below.
4-1. Libreal sense
Librealsense installation please use this form.
4-2.Realsense_ros
Copy the realsense_ros package to the catkin folder
cd ~/catkin_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git
cd ..
catkin_make
4-3. Start ROS
roslaunch ssl_slam ssl_slam_L515.launch
This will result in live data from the L515 ssl_slam_mapping.launch Is executed.
5. Regarding citation
When using this work (SSL_SLAM / SSL-SLAM) for research, we recommend that you cite the following treatises.I would appreciate it if you could quote.
5-1. SSL_SLAM framework
@article{wang2021lightweight,
author={H. {Wang} and C. {Wang} and L. {Xie}},
journal={IEEE Robotics and Automation Letters},
title={Lightweight 3-D Localization and Mapping for Solid-State LiDAR},
year={2021},
volume={6},
number={2},
pages={1801-1807},
doi={10.1109/LRA.2021.3060392}}5-2. SSL_SLAM2 framework
@article{wang2021lightweight,
author={H. {Wang} and C. {Wang} and L. {Xie}},
journal={IEEE Robotics and Automation Letters},
title={Lightweight 3-D Localization and Mapping for Solid-State LiDAR},
year={2021},
volume={6},
number={2},
pages={1801-1807},
doi={10.1109/LRA.2021.3060392}}
Finally
The Intel LiDAR camera L515 mentioned in this article is available at our company.In addition, a service for R & D "Rental servicetegakariFeel free to try the actual machine.Please feel free to contact us regarding usage.
