radar_topometric_localization

Paper: Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?

Dataset: Boreas

Citation

@article{burnett_ral22,
  author={Burnett, Keenan and Wu, Yuchen and Yoon, David J. and Schoellig, Angela P. and Barfoot, Timothy D.},
  journal={IEEE Robotics and Automation Letters},
  title={Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?},
  year={2022},
  volume={7},
  number={4},
  pages={10328-10335},
  doi={10.1109/LRA.2022.3192885}
}

Installation

Setup VTR3 Directories

Create the following directories in your local filesystem. Later they will be mapped to the docker container.

export VTRROOT=~/ASRL  # (INTERNAL default) root directory of VTR3
# you can change the following directories to anywhere appropriate
export VTRSRC=${VTRROOT}/vtr3        # source code of VTR3
export VTRDEPS=${VTRROOT}/deps       # system dependencies of VTR3
export VTRTEMP=${VTRROOT}/temp       # temporary data directory for testing
mkdir -p ${VTRSRC} ${VTRTEMP} ${VTRDEPS}

Reference: https://github.com/utiasASRL/vtr3/wiki/Installation-Guide

Download VTR3 Source Code

Also to your local filesystem, so that you don’t have to access them from within the docker container.

cd ${VTRSRC}
git clone git@github.com:utiasASRL/vtr3.git .
git checkout 20623450c195674e09bc96e01a263f0440358b11  # commit hash specified by radar_topometric_localization
git submodule update --init --remote

Reference: https://github.com/utiasASRL/vtr3/wiki/Installation-Guide

Download vtr_testing_radar

This package contains testing code for lidar and radar pipeline. Download it do your local filesystem.

cd ${VTRROOT}
git clone git@github.com:cheneyuwu/vtr_testing_radar.git

Download pyboreas for evaluation

cd ${VTRROOT}
git clone git@github.com:utiasASRL/pyboreas.git

Build VTR3 Docker Image

This builds a image that has all dependencies installed.

cd ${VTRSRC}
docker build -t vtr3_<your_name> \
  --build-arg USERID=$(id -u) \
  --build-arg GROUPID=$(id -g) \
  --build-arg USERNAME=$(whoami) \
  --build-arg HOMEDIR=${HOME} .

Reference: https://github.com/utiasASRL/vtr3/wiki/EXPERIMENTAL-Running-VTR3-from-a-Docker-Container

Start the VTR3 Docker container

Install nvidia docker runtime first: https://nvidia.github.io/nvidia-container-runtime/

docker run -dit --rm --name vtr3 \
  --privileged \
  --network=host \
  --gpus all \
  -e DISPLAY=$DISPLAY \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -v ${HOME}:${HOME}:rw \
  -v ${HOME}/ASRL:${HOME}/ASRL:rw vtr3_<your_name>

FYI: to start a new terminal with the existing container: docker exec -it vtr3 bash

Reference: https://github.com/utiasASRL/vtr3/wiki/EXPERIMENTAL-Running-VTR3-from-a-Docker-Container

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