Line_Navigation_Offline

Offline version of the code for the paper
Bista SR, Giordano PR, Chaumette F. Appearance-based indoor navigation by IBVS using line segments. IEEE Robotics and Automation Letters. 2016 Jan 26;1(1):423-30.

The code is open source. The codes are provided “as-is” without any warranty. Before using the code, you agree to use the code at your own risk. The authors are not responsible or liable for any damages incurred using this code.

New ROS package build instructions

1. Follow steps 1. to 3. of the normal instructions

2. Put the package in a catkin workspace

3. Build package with catkin

4. Run selectRefImages on the collected dataset

5. Run with ROS (edit launch file parameters if required)

roslaunch line_navigation_ros nav_online.launch

Build Instructions

1. Get Source codes from the repository

git clone <reopo url>
cd line_navigation_offline
git submodule update --init selectKeyImagesLines

2. Install required dependencies

sudo apt install libarpack2-dev libsuperlu-dev

3. Build executables required for mapping

cd selectKeyImagesLines  
./build_linematching.sh

4. Build Navigation code

For first time use setup.sh to compile the code. This will build custom ARPACK and SUPELU libaries

cd ..
./setup.sh 

After initial setup, the further compilation can be done by

./compile.sh

5. Steps to run naviagtion code after building

a) Get Reference images from teach sequence. (Refer here)

b) Test Script to run code run.sh