Simultaneous calibration and localization

Global calibration for UWB anchor positions with Lidar and UWB

An implementation for UWB anchor global calibration with Lidar using a modified-A-LOAM and robot localization with UWB.

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 20.04. ROS Noetic. ROS Installation

1.2. Ceres Solver

Follow Ceres Installation.

1.3. PCL

Follow PCL Installation.

2. Build

Clone this repository and the A-modified-A-LOAM and catkin_make:

    cd ~/catkin_ws/src
    git clone https://github.com/L53317/Simultaneous_calibration_localization.git

    git clone https://github.com/L53317/A-modified-A-LOAM.git

    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3. UWB calibration

The DATASET includes the UWB distance measurements, the anchor's initial positions and the corresponding Lidar cloud points. You can run the following commands to get optimal estimations of the UWB anchor's positions.

    roslaunch aloam_velodyne aloam_velodyne_HDL_32.launch
    rosrun global_selfcalibration global_selfcalibration_node
    rosbag play YOUR_DATASET_FOLDER/LIDAR_UWB.bag

4. TODO

Future improvements.

5. Acknowledgements

Thanks for VINS-Fusion and the updated VINS-Fusion. For Licenses of the component codes, users are encouraged to read the material of these original projects.