- ROS Noetic
- OctoMap
- PCL
- Eigen
- OpenCV
- Python3
catkin config --install
catkin build
source install/setup.bash
roslaunch orb_slam2_ros orb_slam2_exploration.launch # localization
python3 odom_transfer.py # only for transforming the ROS Msg format
roslaunch semantic_octomap semantic_mapping.launch # mapping
roslaunch semantic_exploration run_semantic_exploration.launch # planning
@inproceedings{zhang2024active,
title={Active Semantic Mapping and Pose Graph Spectral Analysis for Robot Exploration},
author={Zhang, Rongge and Bong, Haechan Mark and Beltrame, Giovanni},
booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={13787--13794},
year={2024},
organization={IEEE}
}
