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Relax and Recover: Guaranteed Range-Only Continuous Localization

Build Status

Code for continuous localization based on sparse range measurements only, including recovery guarantees. If you use this code, please cite the paper:

@article{8978573,
  author={Pacholska, Michalina and D{\"u}mbgen, Frederike and Scholefield, Adam},
  journal={IEEE Robotics and Automation Letters}, 
  title={Relax and Recover: Guaranteed Range-Only Continuous Localization}, 
  year={2020},
  volume={5},
  number={2},
  pages={2248-2255},
  doi={10.1109/LRA.2020.2970952}
}

Authors

Created by (in alphabetic order):

  • Adam Scholefield
  • Frederike Duembgen
  • Michalina Pacholska

Installation

Get this repository using:

git clone  https://github.com/LCAV/continuous-localization.git

You can install all standard python requirements it (at least) two ways:

  1. using pip in you favourite Python 3 environment: 
    pip install -r requirements.txt
  2. using conda, that will create virtual environment for you: 
    conda env create -f environment.yml

Not that for some plotting and saving functionalities, you need to have LaTeX installed.

Contents

Notebooks

  • GenerateAllFigures.ipynb: generate the Figures used in the paper.
  • PublicDatasets.ipynb: evaluation of public datasets.

Scripts (scripts/)

  • generate_results: code to generate the results for different algorithms (see table in paper).

Other

  • bin/ Scripts used for formatting and automatic testing of this repository.
  • datasets/: Lawnmower and WiFi datasets for range-only localization. See datasets/README.md for descriptions.

Contribute

If you want to contribute to this repository, please check CONTRIBUTE.md.

Documentation

To look at documentation locally, run

make html

and then open the file build/html/index.html in a browser.

License

Copyright (c) 2018 Frederike Duembgen, Michalina Pacholska, Adam Scholefield

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.