Stochastic Triangular Mesh (STM) Mapping

An online dense mapping technique for mobile robots.

Dependencies

Required

• git
• python >= 3.7
• EMDW---a proprietary PGM library, which is in the process of being made open source

Recommended

• pyenv
• pyenv-virtualenv

PyEMDW Wrapper Library

PyEMDW is a python wrapper for some of the functionality of EMDW. The release of PyEMDW is pending the EMDW open source release.

STM Mapping Library

The STM mapping library is under the stm-map directory. Assuming PyEMDW is installed, to install the library, from the root directory, run

$ pip install ./stm-map

Experiments

This contains a series of experiments testing the STM mapping technique. From within the experiments directory run a desired script as a module---that is,

$ python -m folder.script {kwargs}

For example

$ python -m compare_surface_maps.elevation_compare_2d

or

$ python -m utoronto.main ~/dataset_directory --batch