A Robust Buffering Method for Remote Visual SLAM
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/test_pub is an example of how to use the ORBBuf interface.
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/image_content_ws is the main implementation of the ORBBuf interface.
In order to make the ORBBuf interface work, we have to modify underlining ROS code. To be specific:
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/ros_comm_ws is the modified ros_comm code, based on the Kinetic version. Main changes are around here and here. These changes allow us to trigger a user-defined callback function whenever a message has been sent.
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/image_transport_ws is the modified image_transport code.
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/plugins_ws is the modified image_transport_plugins code. These changes allow us to pass the user-defined callback function along the way.
- Run build.sh. Note that this process will update your ROS library (libroscpp.so). But if you don't use the ORBBuf interface, there is no harm to your ROS.
- Run the generated stereo_kitti_pub for a test with the KITTI dataset.
The full paper can be accessed with arXiv.
If you are interested, please cite our IROS 2021 paper:
@inproceedings{DBLP:conf/iros/WangZWDQM21,
author = {Yu{-}Ping Wang and
Zi{-}Xin Zou and
Cong Wang and
Yue{-}Jiang Dong and
Lei Qiao and
Dinesh Manocha},
title = {ORBBuf: {A} Robust Buffering Method for Remote Visual {SLAM}},
booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems,
{IROS} 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021},
pages = {8706--8713},
publisher = {{IEEE}},
year = {2021},
url = {https://doi.org/10.1109/IROS51168.2021.9635950},
doi = {10.1109/IROS51168.2021.9635950},
timestamp = {Wed, 22 Dec 2021 12:37:50 +0100},
biburl = {https://dblp.org/rec/conf/iros/WangZWDQM21.bib},
bibsource = {dblp computer science bibliography, https://dblp.org}
}