OBLAM Assignment: Loop Closure and Pose-Graph Optimization

Course page

The course materials and instructions can be found at KTH Canvas .

Prerequisite

The software was developed on the following dependancies

1. Ubuntu 20.04
2. ROS Noetic
3. Ceres 2.1.0 (do checkout the branch 2.1.0 after git clone)
4. PCL libary (built-in of Ubuntu 20.04)

The code was editted on VS Code with #region folding add-on for tidier view.

Installation

Please install all dependencies first. Afterwards, create a ros workspace, clone the package to the workspace, and build by catkin build or catkin_make, for e.g.:

mkdir catkin_ws/src
cd catkin_ws/src
git clone https://github.com/brytsknguyen/oblam_pgo
cd ..; catkin build

Download Data

Please download pointcloud data here

Declare the path to the data in the launch file run_pgo.launch.

Assignment

Go to the function OptimmizePoseGraph() and create a ceres problem and solve it. If it works you should see a loop closure event like this.

Enjoy Studying!