# FLAG

**Repository Path**: guningbo__buaa/FLAG

## Basic Information

- **Project Name**: FLAG
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: LGPL-2.1
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-03-25
- **Last Updated**: 2021-03-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# FLAG: Feature-based Localization between Air and Ground

===================================================
Copyright APRIL Lab.

https://april.eecs.umich.edu/

[FLAG: Feature-based Localization between Air and Ground](https://april.eecs.umich.edu/papers/details.php?name=wang2017icra)

This souce code contains lidar-based FLAG. It includes graph-based localziation method with more robust data association (pairwise consistency check and max-mixture model).

[Video](https://april.eecs.umich.edu/public/users/xipengw/videos/FLAG2.mp4)

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# Build the code
    install LCM: https://lcm-proj.github.io/
    git clone https://github.com/xipengwang/FLAG
    cd FLAG
    make

# Map generator
     ./FLAG-map-generator -f ../resc/bbb_floorplan.pnm -m ../resc/mission-gen.config [--out-file landmarks.csv]
     
# Lidar-to-corners
     ./velodyne-to-corner [--lidar-channel]
     
# Localization
     ./FLAG-pf -f ../resc/bbb_floorplan.pnm -m ../resc/mission-gen.config -i landmarks.csv
     ./FLAG-graph -f ../resc/bbb_floorplan.pnm -m ../resc/mission-gen.config -i landmarks.csv