MultiMap3D

This repository contains code to build a Multi-level perceptual semantic map in real-time.

Paper:MultiMap3D: A Multi-Level Semantic Perceptual Map Construction Based on SLAM and Point Cloud Detection

We use ORB-SLAM2 as the slam part and FCAF3D to achieve point cloud detection. we have to mention that our orb-slam2's work also based this work->ORB-SLAM2_DENSE.

1.BUILDING

move to your ros workspace and get the code as rospackage.

cd /${your_workspace}/src
git clone https://github.com/ZhouJankin/MultiMap3D.git

orb-slam2 requirements

Pangolin、 OpenCV、Eigen3、DBoW2 and g2o(included in Thirdparty folder)

build orb-slam2:

cd MultiMap3D/ORB-SLAM2_DENSE-master
./build.sh
cd Examples/ROS/ORB_SLAM2_DENSE
mkdir build
cd build
cmake ..
make -j4

build mmdetection3d

create a conda environment

conda create -n Multimap3D python=3.8
conda activate Multimap3D

Then install the pytorch and cuda.(we use pytorch 1.9 and cuda 11.1 with a nivdia RTX 3070)

Follow the instruction and install the MMDetection3D

if you wanna use FCAF3D as detection method as well, then you need to install MinkowskiEngine

pip3 install -U MinkowskiEngine

if it dosen't work, check the website above and find another way.

then download the checkpoints you need in checkpoints file

cd ${your_workspace}/src/MultiMap3D/checkpoints

download here https://github.com/open-mmlab/mmdetection3d/tree/master/configs/fcaf3d

2.Using

Before running your package , don't forget catkin_make if you had any changes, and source your workspace.

(optional) cd ${your_workspace}  && catkin_make
source devel/setup.bash

First run the detection and database

The detection and database code are in fcaf3d_sort_demo.py

Change the checkpoints file and config files' path in fcaf3d_sort_demo.py

config_file = '${your_workspace}/src/MultiMap3D/configs/fcaf3d/fcaf3d_8x2_scannet-3d-18class.py'
checkpoint_file = '${your_workspace}/src/MultiMap3D/checkpoints/fcaf3d_8x2_scannet-3d-18class_20220805_084956.pth'

And don't forget to change class names based your model.

Then choose use local point cloud(/keyframe_cloud) to detect or the global point cloud(/cloud2)

rospy.Subscriber('/keyframe_cloud', PointCloud2, callback)
or rospy.Subscriber('/cloud2', PointCloud2, callback)

run fcaf3d_sort_demo.py

python ${your_workspace}/src/MultiMap3D/ORB-SLAM2_DENSE-master/Examples/ROS/ORB_SLAM2_DENSE/scripts/fcaf3d_sort_demo.py

It needs time to load the checkpoint file, when you see 'start', you can run the slam part.

run the slam part

roslaunch orb_slam2_dense tum_pioneer.launch

you can change your dataset at ${your_workspace}/src/MultiMap3D/ORB-SLAM2_DENSE-master/Examples/ROS/ORB_SLAM2_DENSE/launch/tum_pioneer.launch

and change other parameters in ${your_workspace}/src/MultiMap3D/ORB-SLAM2_DENSE-master/Examples/ROS/ORB_SLAM2_DENSE/params