$mkdir -p ~/catkin_ws/src $cd ~/catkin_ws/src catkin_ws/src$ git clone https://github.com/ganlumomo/MultiLayerMapping.git catkin_ws/src$ cd .. catkin_ws$ catkin_make catkin_ws$ source ~/catkin_ws/devel/setup.bashcatkin_ws$ source /opt/intel/compilers_and_libraries/linux/bin/compilervars.sh intel64 catkin_ws$ catkin_make -DCMAKE_C_COMPILER=icc -DCMAKE_CXX_COMPILER=icpc catkin_ws$ source ~/catkin_ws/devel/setup.bashMultiLayerMapping/launch$ roslaunch semantics_static.launch MultiLayerMapping/launch$ roslaunch cassie_node.launch MultiLayerMapping/rviz$ rosrun rviz rviz -d cassie.rvizIf you found this code useful, please cite the following:
Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference (PDF)
@ARTICLE{gan2022multi, title={Multitask Learning for Scalable and Dense Multilayer {Bayesian} Map Inference}, author={Gan, Lu and Kim, Youngji and Grizzle, Jessy W and Walls, Jeffrey M and Kim, Ayoung and Eustice, Ryan M and Ghaffari, Maani}, journal={IEEE Transactions on Robotics}, year={2022}, doi={10.1109/TRO.2022.3197106} } Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping (PDF)
@ARTICLE{gan2020bayesian, author={Gan, Lu and Zhang, Ray and Grizzle, Jessy W. and Eustice, Ryan M. and Ghaffari, Maani}, journal={IEEE Robotics and Automation Letters}, title={Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping}, year={2020}, volume={5}, number={2}, pages={790-797}, doi={10.1109/LRA.2020.2965390} } This repo is mostly based on: