ROMAN ROS

This is ROS wrapper code for running roman mapping real-time.

Welcome to roman_ros, a ROS wrapper for ROMAN (Robust Object Map Alignment Anywhere). ROMAN is a view-invariant global localization method that maps open-set objects and uses the geometry, shape, and semantics of objects to find the transformation between a current pose and previously created object map. This enables loop closure between robots even when a scene is observed from opposite views.

Citation

If you find ROMAN useful in your work, please cite our paper:

M.B. Peterson, Y.X. Jia, Y. Tian and J.P. How, "ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization," arXiv preprint arXiv:2410.08262, 2024.

@article{peterson2024roman,
  title={ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization},
  author={Peterson, Mason B and Jia, Yi Xuan and Tian, Yulun and Thomas, Annika and How, Jonathan P},
  journal={arXiv preprint arXiv:2410.08262},
  year={2024}
}

Install

In the root directory of your ROS workspace run:

cd src
git clone git@github.com:mit-acl/roman_ros.git
git clone git@github.com:eric-wieser/ros_numpy.git
cd ..
catkin build

Running with D455 and Kimera-VIO

An example is provided running a D455 with Kimera-VIO for odometry.

export ROBOT=<robot name>
export CAMERA=<camera name>
export BAG=<path to bag file>
tmuxp load ./tmux/example.yaml

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This research is supported by Ford Motor Company, DSTA, ONR, and ARL DCIST under Cooperative Agreement Number W911NF-17-2-0181.