FLAG: Feature-based Localization between Air and Ground

=================================================== Copyright APRIL Lab.

https://april.eecs.umich.edu/

FLAG: Feature-based Localization between Air and Ground

This souce code contains lidar-based FLAG. It includes graph-based localziation method with more robust data association (pairwise consistency check and max-mixture model).

Video

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Build the code

install LCM: https://lcm-proj.github.io/
git clone https://github.com/xipengwang/FLAG
cd FLAG
make

Map generator

 ./FLAG-map-generator -f ../resc/bbb_floorplan.pnm -m ../resc/mission-gen.config [--out-file landmarks.csv]

Lidar-to-corners

 ./velodyne-to-corner [--lidar-channel]

Localization

 ./FLAG-pf -f ../resc/bbb_floorplan.pnm -m ../resc/mission-gen.config -i landmarks.csv
 ./FLAG-graph -f ../resc/bbb_floorplan.pnm -m ../resc/mission-gen.config -i landmarks.csv