maplab
SuperPoint_SLAM
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| maplab | SuperPoint_SLAM | |
|---|---|---|
| 2 | 2 | |
| 2,466 | 504 | |
| 1.3% | - | |
| 6.8 | 1.8 | |
| 3 months ago | about 3 years ago | |
| C++ | C++ | |
| Apache License 2.0 | GNU General Public License v3.0 or later |
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maplab
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Where to hire Jetson developers?
I've ported https://github.com/ethz-asl/maplab/releases/tag/1.3 to the TK-1 and have some OpenCV experience with the Jetson family but no specific camera driver experience. Are you looking for a long term hire or just this effort?
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DARPA SubT Challenge Final Results Announced
I haven't had a chance to look at the data in detail, but I assume you're talking about the flip-flopping of some clouds from one of the ANYmals? We use a centralized mapping framework called MapLab which tries to optimally align the maps of all robots and generate a single consistent map. Map optimization is totally out of my domain, but I suspect a few bad constraints caused the optimization to oscillate between two local minima. It gave the operator a heart attack at the time, but its a fairly common occurrence before the process is complete, and fortunately it all got worked out.
SuperPoint_SLAM
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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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Complete Open Source Deep Learning Implementations For V-SLAM
As you've mentioned, there are many papers on deep local feature extraction, like SuperPoint and R2D2. If you wish to use them in SLAM, you can simply replace the feature extraction module in the existing SLAM system with the deep local feature method. An example is shown here - this system uses SuperPoint as local features instead of ORB features in the original ORB-SLAM 2 pipeline. https://github.com/KinglittleQ/SuperPoint_SLAM
What are some alternatives?
rtabmap - RTAB-Map library and standalone application
cartographer - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
orb_slam_2_ros - A ROS implementation of ORB_SLAM2
openvslam - OpenVSLAM: A Versatile Visual SLAM Framework
slam_gmapping - Slam Gmapping for ROS2
open_vins - An open source platform for visual-inertial navigation research.
mapper - OpenOrienteering Mapper is a software for creating maps for the orienteering sport.
pyslam - pySLAM contains a monocular Visual Odometry (VO) pipeline in Python. It supports many modern local features based on Deep Learning.
xivo - X Inertial-aided Visual Odometry
ORB_SLAM2 - Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities