ov2slam
orb_slam_2_ros
| ov2slam | orb_slam_2_ros | |
|---|---|---|
| 1 | 1 | |
| 545 | 586 | |
| - | 2.6% | |
| 0.0 | 0.0 | |
| almost 3 years ago | 9 months ago | |
| C++ | C++ | |
| GNU General Public License v3.0 only | GNU General Public License v3.0 or later |
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ov2slam
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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
orb_slam_2_ros
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Odometry is changing at a faster rate with intelrealsense d435 while using orb_slam2_ros
I have compiled [this repository](https://github.com/appliedAI-Initiative/orb_slam_2_ros) on nvidia jetson nano and it has been successfully built inside my catkin workspace. I have double checked the rosnode list and topics subscribed and published by nodes and they are all good. When I launched the file `roslaunch orb_slam2_ros orb_slam2_d435_rgbd.launch` and try to see the `/orb_slam2_rgbd/pose` topic, the pose looks quite unstable and changing at a faster rate (you can see inside the video attached) while the robot is static. I have attached the tf tree in this issue [frames.pdf](https://github.com/appliedAI-Initiative/orb_slam_2_ros/files/8130863/frames.pdf) and a video link [here](https://drive.google.com/file/d/1nU13ZrD_oXfTAPqC75yUB4uY-FzfR1dC/view?usp=sharing).
What are some alternatives?
pyslam - pySLAM contains a monocular Visual Odometry (VO) pipeline in Python. It supports many modern local features based on Deep Learning.
SuperPoint_SLAM - SuperPoint + ORB_SLAM2
pixel-perfect-sfm - Pixel-Perfect Structure-from-Motion with Featuremetric Refinement (ICCV 2021, Best Student Paper Award)
Fast_RRT-ROS - RRT-ROS implementation.
openvslam - OpenVSLAM: A Versatile Visual SLAM Framework
Universal_Robots_ROS_Driver - Universal Robots ROS driver supporting CB3 and e-Series
OpenChisel - An open-source version of the Chisel chunked TSDF library.
Nox_robot - Nox robot project
colmap - COLMAP - Structure-from-Motion and Multi-View Stereo
stella_vslam - This is a unofficial fork of OpenVSLAM (https://github.com/xdspacelab/openvslam)
voxblox - A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
sloam - Semantic LIDAR odometry and mapping for cylinderical objects (e.g. trees in forests)