elevation_mapping
voxblox
| elevation_mapping | voxblox | |
|---|---|---|
| 1 | 1 | |
| 1,211 | 1,254 | |
| 1.3% | 1.0% | |
| 4.8 | 0.0 | |
| 17 days ago | 2 months ago | |
| C++ | C++ | |
| BSD 3-clause "New" or "Revised" License | BSD 3-clause "New" or "Revised" License |
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elevation_mapping
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System Requirements for elevation_mapping Package?
My lab's working on incorporating the ANYbotics elevation_mapping package (https://github.com/ANYbotics/elevation_mapping) into our robot. The plan is to use several Intel RealSense (or other RGB-D) cameras to provide data that the rover will use to build its elevation map of the surrounding environment. The trick is that this seems to be incredibly slow: my laptop doesn't have a very good graphics card and so the elevation_mapping demo that comes with the package runs incredibly slow. For our application, we need the process to run fairly quickly, but we're confused as to how to spec a computer for running this package on board an actual robot.
voxblox
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Questions for SLAM/SfM for Dense 3D Reconstruction (DSO vs ORB, Monofusion etc.)
For instance you could go with : https://github.com/ov2slam/ov2slam , add some processing on the keyframes for depth maps computation and then fuse the depth maps in a TSDF using https://github.com/personalrobotics/OpenChisel or https://github.com/ethz-asl/voxblox
What are some alternatives?
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
OpenChisel - An open-source version of the Chisel chunked TSDF library.
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
colmap - COLMAP - Structure-from-Motion and Multi-View Stereo
slam_gmapping - Slam Gmapping for ROS2
pyslam - pySLAM contains a monocular Visual Odometry (VO) pipeline in Python. It supports many modern local features based on Deep Learning.
rtabmap - RTAB-Map library and standalone application
ov2slam - OV²SLAM is a Fully Online and Versatile Visual SLAM for Real-Time Applications
BehaviorTree.CPP - Behavior Trees Library in C++. Batteries included.
MonoRec - Official implementation of the paper: MonoRec: Semi-Supervised Dense Reconstruction in Dynamic Environments from a Single Moving Camera (CVPR 2021)
cartographer - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
pixel-perfect-sfm - Pixel-Perfect Structure-from-Motion with Featuremetric Refinement (ICCV 2021, Best Student Paper Award)