EO-RCL : Robust Collaborative Localization in Extreme Outliers

Overview

This is a c++ implementation based on strasdat/Sophus. The solvers' cpp files are in the test/ceres/ directory.

Dependency

• Eigen 3.3.4
• Google ceres 2.0.0

Quickstart

Assume the current directory is the root of this repository.

Compile

$ chmod +x ./scripts/run_cpp_tests.sh
$ ./scripts/run_cpp_tests.sh

Run

$ chmod +x ./scripts/run_robust_pcl_reconstruction_example_cauchy_two_EM.sh
$ ./scripts/run_robust_pcl_reconstruction_example_cauchy_two_EM.sh

Common problems

1. ccache may not be installed by default. Simply install it.

$ sudo apt-get install ccache

Acknowledgement

The implementation of EO--RCL relies on resources from RobustPCLReconstruction. Thank the original authors for their open-sourcing！