DUFOMap: Efficient Dynamic Awareness Mapping
[](https://arxiv.org/abs/2403.01449)
[](https://KTH-RPL.github.io/dufomap)
[](https://mit-spark.github.io/Longterm-Perception-WS/assets/proceedings/DUFOMap/poster.pdf)
[](https://youtu.be/isDnAVoVD5M)
Quick Demo: Run with the **same parameter setting** without tuning for different sensor (e.g 16, 32, 64, and 128 channel LiDAR and Livox-series mid360), the following shows the data collected from:
| Leica-RTC360 | 128-channel LiDAR | Livox-mid360 |
| ------- | ------- | ------- |
|  |  |  |
🚀 2024-11-20: Update dufomap Python API from [SeFlow](https://github.com/KTH-RPL/SeFlow) try it now! `pip install dufomap` and run `python main.py --data_dir data/00` to get the cleaned map directly. Support all >=Python 3.8 in Windows and Linux. Please extract your own data to **the unified format** first follow [this wiki page](https://kth-rpl.github.io/DynamicMap_Benchmark/data/creation/#custom-data).
Clone quickly and init submodules:
```bash
git clone --recursive -b main --single-branch https://github.com/KTH-RPL/dufomap.git
# The easiest way to run DUFOMap:
pip install dufomap
python main.py --data_dir data/00
```
### Dependencies
If you want to compile the C++ source version, please install the following dependencies:
```bash
sudo apt update && sudo apt install gcc-10 g++-10
sudo apt install libtbb-dev liblz4-dev
```
Or you can directly build docker image through our [Dockerfile](Dockerfile):
```bash
docker build -t dufomap .
```
### 1. Build & Run
Build:
```bash
cmake -B build -D CMAKE_CXX_COMPILER=g++-10 && cmake --build build
```
Prepare Data: Teaser data (KITTI 00: 384.4Mb) can be downloaded via follow commands, more data detail can be found in the [dataset section](https://kth-rpl.github.io/DynamicMap_Benchmark/data) or format your own dataset follow [custom dataset section](https://kth-rpl.github.io/DynamicMap_Benchmark/data/creation/#custom-data).
```bash
wget https://zenodo.org/records/8160051/files/00.zip -p data
unzip data/00.zip -d data
```
Run:
```bash
./build/dufomap_run data/00 assets/config.toml
```
## 2. Evaluation
Please reference to [DynamicMap_Benchmark](https://github.com/KTH-RPL/DynamicMap_Benchmark) for the evaluation of DUFOMap and comparison with other dynamic removal methods.
[Evaluation Section link](https://github.com/KTH-RPL/DynamicMap_Benchmark/blob/master/scripts/README.md#evaluation)
## Acknowledgements
Thanks to HKUST Ramlab's members: Bowen Yang, Lu Gan, Mingkai Tang, and Yingbing Chen, who help collect additional datasets.
This work was partially supported by the Wallenberg AI, Autonomous Systems and Software Program ([WASP](https://wasp-sweden.org/)) funded by the Knut and Alice Wallenberg Foundation including the WASP NEST PerCorSo.
Feel free to explore below projects that use [ufomap](https://github.com/UnknownFreeOccupied/ufomap) (attach code links as follows):
- [RA-L'24 DUFOMap, Dynamic Awareness]()
- [RA-L'23 SLICT, SLAM](https://github.com/brytsknguyen/slict)
- [RA-L'20 UFOMap, Mapping Framework](https://github.com/UnknownFreeOccupied/ufomap)
### Citation
Please cite our works if you find these useful for your research.
```
@article{daniel2024dufomap,
author={Duberg, Daniel and Zhang, Qingwen and Jia, MingKai and Jensfelt, Patric},
journal={IEEE Robotics and Automation Letters},
title={{DUFOMap}: Efficient Dynamic Awareness Mapping},
year={2024},
volume={9},
number={6},
pages={1-8},
doi={10.1109/LRA.2024.3387658}
}
@article{duberg2020ufomap,
author={Duberg, Daniel and Jensfelt, Patric},
journal={IEEE Robotics and Automation Letters},
title={{UFOMap}: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown},
year={2020},
volume={5},
number={4},
pages={6411-6418},
doi={10.1109/LRA.2020.3013861}
}
@inproceedings{zhang2023benchmark,
author={Zhang, Qingwen and Duberg, Daniel and Geng, Ruoyu and Jia, Mingkai and Wang, Lujia and Jensfelt, Patric},
booktitle={IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)},
title={A Dynamic Points Removal Benchmark in Point Cloud Maps},
year={2023},
pages={608-614},
doi={10.1109/ITSC57777.2023.10422094}
}
```