SPOMP: Semantic Panoramic Online Mapping and Planning

This is the public code repository for our work SPOMP. Here are all the submodules needed for the stack.

Video

Paper

IEEE T-FR: https://doi.org/10.1109/TFR.2024.3424748 arXiv: https://doi.org/10.48550/arXiv.2407.09902

Citation:

@ARTICLE{10587299,
  author={Miller, Ian D. and Cladera, Fernando and Smith, Trey and Taylor, Camillo Jose and Kumar, Vijay},
  journal={IEEE Transactions on Field Robotics}, 
  title={Air-Ground Collaboration with SPOMP: Semantic Panoramic Online Mapping and Planning}, 
  year={2024},
  volume={},
  number={},
  pages={1-1},
  keywords={Semantics;Laser radar;Task analysis;Planning;Robot sensing systems;Sensors;Three-dimensional displays},
  doi={10.1109/TFR.2024.3424748}}

How to run the code?

We provide Docker images that can be used to run this code:

# Clone and run the master docker image
git clone https://github.com/KumarRobotics/dcist_master.git
cd dcist_master
./run.bash dcist-master

# Clone the repo and build
cd user_ws
mkdir src
git clone --recursive -j8 https://github.com/KumarRobotics/spomp-system.git src/spomp-system
catkin config --extend ~/dcist_ws/devel && catkin build -DCMAKE_BUILD_TYPE=Release

Launch files for air and ground robots can be found inside semantics_manager.

Main modules

• semantics_manager: Starting point for launch files and configuration management
• ROFL: LiDAR odometry
• SPOMP: Autonomy stack for UGVs. Handles terrain analysis and global and local planning.
• ASOOM: Aerial orthomapper
• top_down_renderer: Crossview localizer
• air_router: High-level planner for UAV
• MOCHA: Distributed, opportunistic communication framework

Dependencies

• grid_map: Fork of grid_map with resizing and compression capabilities
• orbslam3_ros: ROS wrapper for ORBSLAM3
• erfnet_pytorch_ros: ROS wrapper for erfnet (for aerial image segmentation)
• rangenet_inf: ROS wrapper for RangeNet++ (for depth panorama segmentation)
• ouster_decoder: Ouster LiDAR driver (needed for ROFL)
• ORB_SLAM3: Fork of ORB_SLAM3 with loop closure deactivated.

Tools

These are not needed to run the stack, but may be useful.

• SILL: Depth panorama/LiDAR labelling tool
• rviz_textured_quads Useful tool for visualizing map images in rviz