pyslam
colmap
pyslam | colmap | |
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3 | 28 | |
1,711 | 6,825 | |
- | 3.1% | |
5.4 | 9.2 | |
3 months ago | 7 days ago | |
Python | C++ | |
GNU General Public License v3.0 only | GNU General Public License v3.0 or later |
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pyslam
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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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Questions for SLAM/SfM for Dense 3D Reconstruction (DSO vs ORB, Monofusion etc.)
I've stumbled upon this and that using DL, and will try to check to simultaneously evaluate them next to developing something using pySLAM. At least that's the current plan.
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Arch linux or Ubuntu for a university student
My question however, is what about certain packages or libraries that I find on github that have been developed and tested on some specific Ubuntu version? Like this pySLAM library - it was developed and tested under Ubuntu 18.04, but is it actually possible to run this on an Arch Linux machine?
colmap
- Magic123: One Image to High-Quality 3D Object Generation
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Drone mapping is pretty dang cool
Not saying its easy to use, but there is an application gui and it is free: https://github.com/colmap/colmap
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Import many photogrammetry software's scenes into Blender
Colmap (Model folders (BIN and TXT), dense workspaces, NVM, PLY)
- Best options for monocular reconstruction?
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improving camera pose estimation using multiple aruco markers
See colmap for example https://colmap.github.io/
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2D images to 3D Object reconstruction
You're looking into a problem called photogrammetry, and a well-studied one at that. I'd recommend looking into "shape from motion" (sfm); specifically techniques that do "dense reconstruction." I'd recommend COLMAP to start with. It does pose estimation from images (e.g. you point it at a bunch of images and it will figure out the relative poses of the cameras that took them), as well as sparse and dense reconstcution.
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Framework generate 3d meshes from camera images
COLMAP builds dense meshes from a collection of cameras https://colmap.github.io/
- Nerfstudio: A collaboration friendly studio for NeRFs
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Neural Radiance Fields and input shape
I’ve seen references to using COLMAP (https://colmap.github.io/) to estimate camera position/pose, e.g. here
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3D reconstruction of an object from videos/few images
Classical photogrammetry, where I agree with u/tdgros that the way to go is https://colmap.github.io/. There are actually better variants in literature but nothing is more reliable and user-friendly than COLMAP. This will give you a very precise point cloud, that can be meshed if needed.
What are some alternatives?
MonoRec - Official implementation of the paper: MonoRec: Semi-Supervised Dense Reconstruction in Dynamic Environments from a Single Moving Camera (CVPR 2021)
Meshroom - 3D Reconstruction Software
ov2slam - OV²SLAM is a Fully Online and Versatile Visual SLAM for Real-Time Applications
OpenMVG (open Multiple View Geometry) - open Multiple View Geometry library. Basis for 3D computer vision and Structure from Motion.
OpenChisel - An open-source version of the Chisel chunked TSDF library.
Hierarchical-Localization - Visual localization made easy with hloc
voxblox - A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
nerf - Code release for NeRF (Neural Radiance Fields)
pixel-perfect-sfm - Pixel-Perfect Structure-from-Motion with Featuremetric Refinement (ICCV 2021, Best Student Paper Award)
openMVS - open Multi-View Stereo reconstruction library
SuperPoint_SLAM - SuperPoint + ORB_SLAM2
instant-ngp - Instant neural graphics primitives: lightning fast NeRF and more