Demo

https://www.bilibili.com/video/av59793400?from=search&seid=12598277376962486068

Change Log

• support CUDA 10
• Find caffe (caffe-segnet) package in CMakeList
• Add docker image

Build

Environment

• Ubuntu 16.04 (Some problems in Ubuntu 18)
• ROS Kinetic
• Cuda 10.0
• Cudnn 7
• Caffe (SegNet)
• Eigen 3
• OpenCV 3
• [optional] docker: 19.03.12

Build and install caffe-segnet-cudnn5

git clone https://github.com/yubaoliu/caffe-segnet.git 
cd SegNet/caffe-segnet
mkdir build
cd build
cmake .. -CMAKE_INSTALL_PREFIX=/usr/local
make & make install

Build DS-SLAM

git clone https://github.com/yubaoliu/DS-SLAM.git

ROS~PACKAGEPATH

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$HOME/catkin_ws/src/DS-SLAM/Examples/ROS/ORB_SLAM2_PointMap_SegNetM

Caffe Modle

segnet_pascal.caffemodel

http://mi.eng.cam.ac.uk/~agk34/resources/SegNet/segnet_pascal.caffemodel

or

gdlink 'https://drive.google.com/uc\?export\=download\&id\=1KzyEpaLovCyDKEj-LkAGTT6l-s3IRpSG' | xargs -n1 wget -c -O ./segnet_pascal.caffemodel

https://drive.google.com/file/d/1KzyEpaLovCyDKEj-LkAGTT6l-s3IRpSG/view?usp=sharing

Please download and place the folder in the same path with the folder of prototxts and tools.

Run

Customize dataset and associate path in launch file

roslaunch fr3_walk_half.launch

Docker

docker-compose build
docker-compose up