rtabmap
RTAB-Map library and standalone application (by introlab)
open_vins
An open source platform for visual-inertial navigation research. (by rpng)
rtabmap | open_vins | |
---|---|---|
14 | 5 | |
2,501 | 1,988 | |
2.5% | 1.9% | |
9.1 | 6.9 | |
10 days ago | 3 months ago | |
C++ | C++ | |
GNU General Public License v3.0 or later | GNU General Public License v3.0 only |
The number of mentions indicates the total number of mentions that we've tracked plus the number of user suggested alternatives.
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
rtabmap
Posts with mentions or reviews of rtabmap.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2022-12-22.
- Generating a 3D point cloud map (simulation)
- Ros2 and native dependecies
-
Lidar 3D Mapping Recommendations
I used RTAB Map for my masterthesis as well. You have to use the cloud topics and disable all scan parameters. There is a masterfile with 800 lines of parameters that should help you out. https://github.com/introlab/rtabmap/blob/master/corelib/include/rtabmap/core/Parameters.h
- What's the most odd thing you've got running on your steam deck?
- RTAB-Maap
-
ROS: Simultaneous Mapping and Localization with RTABmap
RTABmap project homepage
-
Software to process Kinect Xbox Data to point cloud
Website: http://introlab.github.io/rtabmap/
-
How to reduce points in VSLAM to 3D meshes? Has it been done before?
I'd suggest RTABMAP.
-
Need some help with SLAM and mapping with LIDAR
For your application rtabmap would be a good starting point I think. (You don't really need ROS either for rtabmap) http://introlab.github.io/rtabmap/
-
Lidar and Stereo Vision for Biped
check out http://introlab.github.io/rtabmap/ and https://opensource.google/projects/cartographer and https://docs.nvidia.com/isaac/isaac/doc/tutorials/assemble\_kaya.html
open_vins
Posts with mentions or reviews of open_vins.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2022-10-27.
-
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.
-
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.
-
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.
-
Sfm or slam pseudo code
Check out open vins. Its an implementation of the vins slam project. https://github.com/rpng/open_vins
-
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.
What are some alternatives?
When comparing rtabmap and open_vins you can also consider the following projects:
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_SLAM3 - ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
openvslam - OpenVSLAM: A Versatile Visual SLAM Framework
SuperPoint_SLAM - SuperPoint + ORB_SLAM2
msckf_vio - Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
PythonRobotics - Python sample codes for robotics algorithms.
xivo - X Inertial-aided Visual Odometry
v-loam
Kimera - Index repo for Kimera code
SuperGluePretrainedNetwork - SuperGlue: Learning Feature Matching with Graph Neural Networks (CVPR 2020, Oral)