This is the code repository for the ICRA'24 paper "Night-Rider: Nocturnal Vision-aided Localization in Streetlight Maps Using Invariant Extended Kalman Filtering"
The repository has been tested in Ubuntu 18.04 with ROS Melodic. To setup Night-Rider, install the dependencies with command lines below.
- Dependencies
- Opencv 3.2
- Eigen3
- PCL 1.8
- Sophus
- GeographicLib
- Streetlight Map
The streetlight map is stored in /pcd folder. We use FAST_LIO_LC and detected streetlights to filter streetlight points. The cloudcompare tool and DBSCAN algorithm enable us to further refine the streetlight map.
- Dataset
Our collected mapping and localization sequences can be downloaded here
- Quick Start
mkdir -p ws_night_rider/src
cd ws_night_rider/src
git clone https://github.com/IMRL/Night-Rider.git
cd ws_night_rider/src && catkin_make
source devel/setup.bash
roslaunch map_relocalization scene2.launch
### Open with another terminal ###
cd /path/to/bag
rosbag play scene2.bagTianxiao Gao, Mingle Zhao, Chengzhong Xu, and Hui Kong, Night-Rider: Nocturnal Vision-aided Localization in Streetlight Maps Using Invariant Extended Kalman Filtering, IEEE International Conference on Robotics and Automation (ICRA), 2024. [PDF]
Part of the codes are based on FAST_LIO_LC and InEKF. Thanks for their awesome work.