# dufomap

**Repository Path**: kin-zhang/dufomap

## Basic Information

- **Project Name**: dufomap
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-04-22
- **Last Updated**: 2024-07-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: Research

## README

<p align="center">
  <h2 align="center">DUFOMap: Efficient Dynamic Awareness Mapping</h1>
  <p align="center">
    <a href="https://www.kth.se/profile/dduberg"><strong>Daniel Duberg</strong><sup>1,*</sup></a>&nbsp;&nbsp;&nbsp;
    <a href="https://kin-zhang.github.io"><strong>Qingwen Zhang</strong><sup>1,*</sup></a>&nbsp;&nbsp;&nbsp;
    <a href="https://github.com/MKJia"><strong>Mingkai Jia</strong><sup>2</sup></a>&nbsp;&nbsp;&nbsp;
    <a href="https://www.kth.se/profile/patric"><strong>Patric Jensfelt</strong><sup>1</sup></a>&nbsp;&nbsp;&nbsp;
    <br />
    <sup>*</sup><strong>Co-first author</strong>&nbsp;&nbsp;&nbsp; <sup>1</sup><strong>KTH</strong>&nbsp;&nbsp;&nbsp; <sup>2</sup><strong>HKUST</strong>&nbsp;&nbsp;&nbsp;
  </p>
</p>

[![arXiv](https://img.shields.io/badge/arXiv-2403.01449-b31b1b?logo=arxiv&logoColor=white)](https://arxiv.org/abs/2403.01449)
[![page](https://img.shields.io/badge/Web-Page-green)](https://KTH-RPL.github.io/dufomap) [video coming soon] [poster coming soon]. Accepted by RA-L'24.

Quick Demo: Run with the **same parameter setting** without tuning for different sensor (e.g 16, 32, 64, and 128 channel LiDAR and Livox-series mid360), the following shows the data collected from:

| Leica-RTC360 | 128-channel LiDAR | Livox-mid360 |
| ------- | ------- | ------- |
| ![](assets/imgs/dufomap_leica.gif) | ![](assets/imgs/doals_train_128.gif) | ![](assets/imgs/two_floor_mid360.gif) |

## 0. Setup

Clone and init submodule quickly:
```bash
git clone --recursive -b main --single-branch https://github.com/Kin-Zhang/dufomap.git

# 在内地的同学可以尝试下面gitee加速：
git clone --recursive -b main --single-branch https://gitee.com/kin-zhang/dufomap
```

Choose setup on your own environment or inside docker.

### Environment

Since Ranges (`std::range`) and `#include <concepts>` first existed in C++20 and GCC 10

```bash
sudo apt update && sudo apt install gcc-10 g++-10
sudo apt install libtbb-dev liblz4-dev liblzf-dev
```

### Docker

Dockerfile is provided, you can build or directly pull by:

```bash
# option 1: build
docker build -f Dockerfile -t zhangkin/dufomap .

# option 2: pull
docker pull zhangkin/dufomap
```

Then you can run a container with the following command:

```bash
docker run -it --rm --name dufomap -v /home/kin/data:/home/kin/data zhangkin/dufomap /bin/zsh
# you can also login as root to install pkg in existing container you want through:
docker exec -it -u 0 dufomap /bin/zsh
```


## 1. Build & Run

Build:

```bash
cmake -B build -D CMAKE_CXX_COMPILER=g++-10 && cmake --build build
```

Prepare Data: Teaser data (KITTI 00: 384.4Mb) can be downloaded via follow commands, more data detail can be found in the [dataset section](https://github.com/KTH-RPL/DynamicMap_Benchmark?tab=readme-ov-file#dataset--scripts) or format your own dataset follow [custom dataset section](https://github.com/KTH-RPL/DynamicMap_Benchmark/blob/master/scripts/README.md#custom-dataset).

```bash
wget https://zenodo.org/records/8160051/files/00.zip
unzip 00.zip -d data
```

Run:

```bash
./build/dufomap_run data/00 assets/config.toml
```

![dufomap](assets/demo.png)

## 2. Evaluation

Please reference to [DynamicMap_Benchmark](https://github.com/KTH-RPL/DynamicMap_Benchmark) for the evaluation of DUFOMap and comparison with other dynamic removal  methods.

[Evaluation Section link](https://github.com/KTH-RPL/DynamicMap_Benchmark/blob/master/scripts/README.md#evaluation)


## Acknowledgements

Thanks to HKUST Ramlab's members: Bowen Yang, Lu Gan, Mingkai Tang, and Yingbing Chen, who help collect additional datasets. 

This work was partially supported by the Wallenberg AI, Autonomous Systems and Software Program ([WASP](https://wasp-sweden.org/)) funded by the Knut and Alice Wallenberg Foundation including the WASP NEST PerCorSo.

Feel free to explore other projects that use [ufomap](https://github.com/UnknownFreeOccupied/ufomap) (attach code links as follows):
- [RA-L'24 DUFOMap, Dynamic Awareness]()
- [RA-L'23 SLICT, SLAM](https://github.com/brytsknguyen/slict)
- [RA-L'20 UFOMap, Mapping Framework](https://github.com/UnknownFreeOccupied/ufomap)

### Citation

Please cite our works if you find these useful for your research.

```
@article{daniel2024dufomap,
  author={Duberg, Daniel and Zhang, Qingwen and Jia, Mingkai and Jensfelt, Patric},
  journal={IEEE Robotics and Automation Letters}, 
  title={{DUFOMap}: Efficient Dynamic Awareness Mapping}, 
  year={2024},
  volume={9},
  number={6},
  pages={5038-5045},
  doi={10.1109/LRA.2024.3387658}
}
@article{duberg2020ufomap,
  author={Duberg, Daniel and Jensfelt, Patric},
  journal={IEEE Robotics and Automation Letters}, 
  title={{UFOMap}: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown}, 
  year={2020},
  volume={5},
  number={4},
  pages={6411-6418},
  doi={10.1109/LRA.2020.3013861}
}
@inproceedings{zhang2023benchmark,
  author={Zhang, Qingwen and Duberg, Daniel and Geng, Ruoyu and Jia, Mingkai and Wang, Lujia and Jensfelt, Patric},
  booktitle={IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)}, 
  title={A Dynamic Points Removal Benchmark in Point Cloud Maps}, 
  year={2023},
  pages={608-614},
  doi={10.1109/ITSC57777.2023.10422094}
}
```