Source-Code for SLAM + DATMO for arbitrary dense range sensors

Introduction / Paper

The software tools provided on this website can be used for Simultaneous Localization and Mapping (SLAM) with Detection And Tracking of Moving Objects (DATMO).
A sequence of range images serves as input, hence arbitrary dense range sensors can be used.
However, testing was only performed on data from the Velodyne HDL-64E S2, see here.

A proper documentation of the code does not exist. Please read my PhD thesis.

Prerequisites

The original code (C++) was tested under Kubuntu 10.10. Changes may be required to operate it under a different system.
A modified version for newer boost libraries is also available which was tested under Ubuntu 14.04.
Since no platform-specific library was used, it may even be possible to get it working under other operating systems.

License

This code is published under the GNU General Public License. If you distribute a software that uses these software tools, you have to distribute it under GPL with the source code. Another option is to contact us to purchase a commercial license. If you find this software useful or if you use this software for your research, we would be happy if you cite the following related publication:

@inproceedings{Moosmann2013ICRA,

Address = {Karlsruhe, Germany},
Author = {Frank Moosmann and Christoph Stiller},
Booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation},
Language = {english},
Month = {May},
Pages = {1138--1144},
Title = {Joint Self-Localization and Tracking of Generic Objects in 3D Range Data},
Url = {http://www.mrt.kit.edu/z/publ/download/Moosmann_ICRA13.pdf},
Year = {2013},
Bdsk-Url-1 = {http://www.kit.edu/z/publ/download/Moosmann_ICRA13.pdf}

}

Disclaimer

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Download

...the original code as .tar.gz

...the modified code for Ubuntu 14.04 without example data as .tar.gz
This was generated by Tim Caselitz, thanks! Please note that I didn't check the modifications!