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James Diebel - Research Webpage | |
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Stanford University 353 Serra Mall Gates Building Room 116 Stanford, CA 94305-9010 |
E-mail: diebel stanford.eduPhone: (650) 725-8790 Fax: (650) 725-1449 |
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Please see the research page for details on other projects.
We have developed a piece of software for performing vehicle localization based on GPS, accelerometer, rate gyro, and wheel encoder measurements. This software performs a joint optimization over a large sliding window, leading to substantially better results than are possible with a Kalman-filter-based approach. A technical report on this project will be released here soon. The code, which is open source is available now and a link is provided below to a tar file that contains all the source. The project depends on several openly-available libraries that are not included. These libraries are indicated in the distribution. The README.txt file included with the software reads:Note from the Author
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Code Version: 0.2
***********
* LICENSE *
***********
Copyright (c) 2006 Stanford University
Permission is hereby granted, free of charge, to any person obtaining
a copy of this software and associated documentation files (the
"Software"), to deal in the Software without restriction, including
without limitation the rights to use, copy, modify, merge, publish,
distribute, sublicense, and/or sell copies of the Software, and to
permit persons to whom the Software is furnished to do so, subject to
the following conditions:
The above copyright notice and this permission notice shall be
included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
***************
* END LICENSE *
***************
This is a collection of software tools for processing data collected
by a land vehicle outfitted with the following sensors:
(1) GPS receiver
(2) Three-axis accelerometers
(3) Three-axis rate gyros
(4) Wheel encoders on both rear wheels
(5) Laser range scanners
The software uses a global optimization to localize the vehicle to a
high degree of precision. This estimate is further refined by using
the laser range finder data when the vehicle has passed the same
location more than once. This part of the software is currently under
development and is not fully functional. Further work will focus on
fully developing this aspect of the technology.
The code depends on several libraries. This may be gleaned from the
makefile that is included. The makefile will need to be modified to
respect the locations of and versions of the libraries on whatever
machine you are trying to compile this on. Because it depends on
LAPACK and BLAS, and because those libraries have inconsitent naming
conventions between a few of their versions, you may also need to
modify the wrapper routines to that the correct function name is
called, depending on whether you end up with the same naming
convention used in the version of the libraries that I am using.
This software presently has no substantive documentation. A technical
report on the mathematics is forthcoming, and software documentation
may follow. The code is generally well-commented and should be fairly
easy to read. High level understanding must come from reading the
technical report, or by tracing the code paths from the main
executables. It is extremely unlikely that I will answer any
questions about this code at present. This may change if a new
version is released.
James Diebel
Stanford University
16th July, 2006
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Source distribution, version 0.2, tested on Linux Fedora
Core 4 (TAR.GZ) Release data: 7/16/2006 |