This repository is the code for the paper titled:

Modern MAP inference methods for accurate and faster occupancy grid mapping on higher order factor graphs by V. Dhiman and A. Kundu and F. Dellaert and J. J. Corso

Please refer to the paper for more details.

You will need

1. Boost 1.48 sudo apt-add-repository ppa:jkeiren/ppa sudo apt-get update sudo apt-get install libboost*1.48-dev

2. OpenCV 2.4 Install from source http://docs.opencv.org/doc/tutorials/introduction/linux_install/linux_install.html

3. GTSAM 2.3 Install from source https://borg.cc.gatech.edu/download

4. Gtest

5. You can optionally install player and stage to generate simulated data again, which is enclosed.

1. All the development and testing has been done on Ubuntu 12.04.

2. Use standard cmake procedure for building binaries mkdir build cd build cmake .. make

3. All executable binaries are created in "bin" folder in the root directory.

4. The data required for the paper is available by running the python script wgetdata.py in Data/ directory.

   cd Data/; python wgetdata.py

You can run the convergence experiment on "cave" dataset. The following scripts will run five algorithms on cave dataset:

python scripts/run_experiments.py scripts/conv_exp_cave.py

Similarly, for other datasets use the following scripts:

python scripts/run_experiments.py scripts/conv_exp_hospital_section.py
python scripts/run_experiments.py scripts/conv_exp_albertb.sm.py

These scripts will save qualitative results in the respective data directories as *.png files. These scripts will save *-plot-time-energy.npy files in the respective data directories. This data can be plotted by using the following scripts:

python scripts/plot_time_energy.py scripts/conv_exp_cave.py
python scripts/plot_time_energy.py scripts/conv_exp_hospital_section.py
python scripts/plot_time_energy.py scripts/conv_exp_albertb.sm.py

The following scripts will run and plot the dual decompositon

python scripts/run_experiments.py scripts/dual_decomposition_stepsize.py
python scripts/plot_time_energy.py scripts/dual_decomposition_stepsize.py