Local_INN: Localization with Invertible Neural Network

Link to the paper.

Local_INN vs. Particle Filter

Local_INN is red, PF is blue. We can see PF is lagging behind.

	Local_INN	Particle Filter
Output Pose Distribution	✅	✅
Solving Kidnapping Problem	✅	✅
Framerate on Jetson Xavier NX	200Hz+	40Hz

Introduction Video

Local_INN_ICRA2023_Video_v2.mp4

Installation

1. You can use our Dockerfile build and run the container:

   git clone --recursive [email protected]:zzangupenn/Local_INN.git
   cd Local_INN
   docker build -t local_inn .
   docker run -ti --rm --gpus all --ipc=host --name local_inn \
   -v [data_dir]:/workspace/data \
   -v ./results:/workspace/results local_inn /bin/bash
   

2. Generate data

   cd levine
   python3 random_sampling.py