ORB_SLAM2
PyDBoW
ORB_SLAM2 | PyDBoW | |
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8 | 1 | |
9,050 | 22 | |
- | - | |
0.0 | 0.0 | |
23 days ago | over 2 years ago | |
C++ | Python | |
GNU General Public License v3.0 or later | MIT License |
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ORB_SLAM2
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Any links/tutorials on how to integrate a mono cam with ros noetic for slam?
ORB_SLAM2 on GitHub: https://github.com/raulmur/ORB_SLAM2
- How to implement SLAM from scratch in C++
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Modular Open Source Visual SLAM
Hi everyone, I am trying to implement a VSLAM with DNN specifically the Feature Extraction module in the SLAM pipeline. Something on the lines of this repo Superpoint_SLAM , which integrates SuperPoint Feature extraction into ORB_SLAM2
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Camera for slam
Maybe you could give Orb-SLAM2 a try with a Pi cam. The package says it works with a monocular camera. https://github.com/raulmur/ORB_SLAM2
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ORBSLAM2 for python3
I am thinking about migrating ORBSLAM2(written in cpp) to python3. Currently there are only python3 wrappers for ORBSLAM2, like ORB_SLAM2-PythonBindings and pyORBSLAM2. The biggest problem is that I can't easily and quickly improve, change all the stuff in cpp, as it would be in python. I am aware that the cpp code is much faster the python equivalent, but implementing and improving additional features is much easier in python, at least for me. For converting the code, I'll keep the optimization stuff like g2o(g2opy), pangolin(pypangolin) and DBoW2(pyDBoW) in cpp, but the rest should be in pure python code.
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Where to “learn” SLAM in 3 hours?
This repo has an advanced SLAM implementation. They also link to a few research papers about how this group made this SLAM algorithm. The ORB SLAM 2 paper has all of the parts of modern SLAM systems, so I'd read that, and the other papers if you have time at the end.
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Introduction To Epipolar Geometry And Stereo
Example: https://github.com/raulmur/ORB_SLAM2/blob/f2e6f51cdc8d067655d90a78c06261378e07e8f3/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc#L71
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[Question] Detecting camera translation in a video
I'm not sure what your final application is, but you can use a SLAM algorithm to recover your camera trajectory. I've used ORB SLAM 2, and it's pretty nice.
PyDBoW
What are some alternatives?
ORB_SLAM2-PythonBindings - A python wrapper for ORB_SLAM2
pyORBSLAM2 - Ultra-fast Boost.Python interface for ORBSLAM2
Mini-SLAM_student - Student version of Mini-SLAM.
pyslam - pySLAM contains a monocular Visual Odometry (VO) pipeline in Python. It supports many modern local features based on Deep Learning.
StrayVisualizer - Visualize Data From Stray Scanner https://keke.dev/blog/2021/03/10/Stray-Scanner.html
python-graphslam - Graph SLAM solver in Python
slambook-en - The English version of 14 lectures on visual SLAM.
PythonRobotics - Python sample codes for robotics algorithms.
open_vins - An open source platform for visual-inertial navigation research.
slam-python - SLAM - Simultaneous localization and mapping using OpenCV and NumPy.