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Release 0.81, 11th June 2001. Ready-to-run demonstration programs now include:
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Scene is a flexible open-source C++ library for sequential localisation and map-building. Its highly modular design makes it suitable for applications in many different domains, from robots navigating in 1D, 2D or 3D with arbitrary sensing capabilities to single camera localisation (real-time structure-from-motion). As is explained in the papers on my home page, the sequential localisation and map-building problem (often referred to as SLAM) is far from solved. However, we hope that this software, already in use in combination with real robots on 3 continents (!), provides a useful platform for further research. The Scene distribution includes a variety of pre-compiled, ready-to-run demo programs (for Linux) which give an excellent feel for map-building in different domains. The ongoing goal of Scene is to create a general software framework for SEQUENTIAL estimation of the positions of moving bodies and the objects of which they are able to make sensor observations in the environment. Scene implements a generalised full SLAM approach, and is applicable to any problem where a moving sensor platform makes measurements of stationary feature in the world. Please let me know how you get on with Scene or get in touch if you have any problems: Andrew Davison, ajd@doc.ic.ac.uk |
Current release version: 0.81, 11/06/2001 Scene consists of two packages:
If you wish to try out the pre-compiled demo programs, you only need SceneApp. Download both packages if you want to compile or modify the source code (in this case you may also need to install other libraries as explained in the Source Code section below). Extract the packages with: |
The following documentation is all included within either SceneLib or SceneApp but is also viewable on the web here. Beginners should see the SceneApp Tutorial first.
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Source CodeThe programs in SceneApp/ETLRobot/ and SceneApp/ETLDouble/ were designed to compile for use on a real robot as well as their simulation mode, though that requires linking with libraries for controlling robot hardware which are very specific to a particular robot system. The structure of Scene makes it very easy to write programs with the dual-compile feature, essentially replacing a Robot class with a generic Simulation module with the same interface. If you do want to use Scene with a real robot, you are welcome to contact me for help. |