open_vins
ORB_SLAM2
open_vins | ORB_SLAM2 | |
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5 | 8 | |
1,988 | 9,032 | |
1.9% | - | |
6.9 | 0.0 | |
3 months ago | 11 days ago | |
C++ | C++ | |
GNU General Public License v3.0 only | GNU General Public License v3.0 or later |
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open_vins
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Modular Open Source Visual SLAM
From what I have understood after reading research papers related to the VSLAM, the modularity aspect is not easy to achieve given the extracted features and descriptors are intrinsically linked with feature matching and handling of map points. I would like to know if there are some good Open Source VSLAM projects available which can be used with different feature extractors so I can get a comparative results with respect to just changing the feature extractors . I have tried pyslam project which is actually quite good considering the modularity but as the author himself points out this is only for academic purposes and when I compared the results of ORB_SLAM2 feature extractor using this module vs the original ORB_SLAM2 for KITTI data set , the results are not comparable. I am also looking into OpenVINS ( and from initial reading it is also using ORB Features, although it does have a base Tracker class which can be modified to create a new Tracker with different descriptor) If anyone has worked with custom feature extractor incorporated into prebuilt SLAM pipeline and can guide me as to how to proceed with the implementation of custom Feature extractor into a SLAM Front end using a Open Source VSLAM framework, it will be really helpful.
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SLAM vs. Visual Odometry Approaches
Because the standard MSCKF is the only one that doesn't contain the map points in the state. Note that this is only for the standard MSCKF. More modern MSCKFS variations like OpenVINS will actually add some SLAM features because it improves the accuracy.
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Advances in SLAM since 2016
Aside from that there have been some publications of some high quality open source SLAM systems like OpenVINS and ORB-SLAM3.
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Sfm or slam pseudo code
Check out open vins. Its an implementation of the vins slam project. https://github.com/rpng/open_vins
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Visual Odometry or SLAM with pose uncertainty output
Generally you want to use a Kalman Filter based method if you want access to the uncertainties. This is because it is much easier to extract a subset of the covariance in the kalman filter form. I would recommend OpenVins. One of the best open source visual odometry projects, and it is pretty well documented.
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.
What are some alternatives?
ORB_SLAM3 - ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
ORB_SLAM2-PythonBindings - A python wrapper for ORB_SLAM2
rtabmap - RTAB-Map library and standalone application
Mini-SLAM_student - Student version of Mini-SLAM.
openvslam - OpenVSLAM: A Versatile Visual SLAM Framework
pyslam - pySLAM contains a monocular Visual Odometry (VO) pipeline in Python. It supports many modern local features based on Deep Learning.
msckf_vio - Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
pyORBSLAM2 - Ultra-fast Boost.Python interface for ORBSLAM2
xivo - X Inertial-aided Visual Odometry
slambook-en - The English version of 14 lectures on visual SLAM.
SuperPoint_SLAM - SuperPoint + ORB_SLAM2