Prerequisites (Tested environment)

• Ubuntu 20.04
• Python 3.8.10

Reference

Github

• https://github.com/youngguncho/PoseNet-Pytorch
• https://github.com/RobustFieldAutonomyLab/LeGO-LOAM

Interim report

• ROS1 Tutorial
• PoseNet-Pytorch practice
• PoseNet-Test: ROS node(publisher)

Final report

• PoseNet-Test: ROS node(publisher)
• LeGO-LOAM settings

To-do lists

• Creating Ground-Truth: Matching 6-dof-pose and image by using SLAM(LeGO-LOAM), Use time_synchronizer
• Train data by using PoseNet-Pytorch
• Creating ROS node(Visual Localization Node): Run test_dataset and visualize(rviz) GT-pose and Predict-pose in real-time