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These files are the codes for the evaluation or the visualization in SpCoSLAM.

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Evaluation / Visualization for SpCoSLAM data

These files are the codes for the evaluation or the visualization in SpCoSLAM.
These codes were used for experiments in our IROS paper.

[Note] It includes cluttered codes and unused codes.


[How to visualize the position distributions on rviz]
roscore
rviz -d ./*/SpCoSLAM/learning/saveSpCoMAP_online.rviz
python ./autovisualization.py p30a20g10sfix008

In case of individual specification
rosrun map_server map_server ./p30a20g10sfix008/map/map361.yaml
python ./new_place_draw.py p30a20g10sfix008 50 23


If you use this program to publish something, please describe the following citation information.

Reference

  • Akira Taniguchi, Yoshinobu Hagiwara, Tadahiro Taniguchi, and Tetsunari Inamura, "Online Spatial Concept and Lexical Acquisition with Simultaneous Localization and Mapping", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), 2017.

  • Akira Taniguchi, Yoshinobu Hagiwara, Tadahiro Taniguchi, and Tetsunari Inamura, "An Improved and Scalable Online Learning of Spatial Concepts and Language Models with Mapping", arXiv:1803.03481, 2018. (Preprint submitted)

Sample video: https://youtu.be/z73iqwKL-Qk

2018/05/18 Akira Taniguchi
2019/01/08 Akira Taniguchi (update)

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These files are the codes for the evaluation or the visualization in SpCoSLAM.

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