Orbeez-SLAM
所属分类：数学计算
开发工具：Cuda
文件大小：0KB
下载次数：0
上传日期：2023-05-23 16:26:05
上 传 者：
sh-1993
说明： 奥比兹·斯拉姆，，
(Orbeez-SLAM,,)
文件列表:
BUILD.md (4733, 2023-10-08)
CMakeLists.txt (9647, 2023-10-08)
Custom.md (7785, 2023-10-08)
Docker.md (2482, 2023-10-08)
Dockerfile (1196, 2023-10-08)
Eval.md (3987, 2023-10-08)
Examples/ (0, 2023-10-08)
Examples/Monocular/ (0, 2023-10-08)
Examples/Monocular/mono_replica.cu (7207, 2023-10-08)
Examples/Monocular/mono_scannet.cu (7351, 2023-10-08)
Examples/Monocular/mono_tum.cu (7353, 2023-10-08)
Examples/RGB-D/ (0, 2023-10-08)
Examples/RGB-D/rgbd_replica.cu (8989, 2023-10-08)
Examples/RGB-D/rgbd_scannet.cu (7945, 2023-10-08)
Examples/RGB-D/rgbd_tum.cu (8234, 2023-10-08)
Examples/Stereo/ (0, 2023-10-08)
Examples/Stereo/EuRoC.yaml (3755, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/ (0, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/MH01.txt (73640, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/MH02.txt (60800, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/MH03.txt (54000, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/MH04.txt (40640, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/MH05.txt (45460, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/V101.txt (58240, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/V102.txt (34200, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/V103.txt (42980, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/V201.txt (45600, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/V202.txt (46960, 2023-10-08)
Examples/Stereo/EuRoC_TimeStamps/V203.txt (38420, 2023-10-08)
Examples/Stereo/KITTI00-02.yaml (1959, 2023-10-08)
Examples/Stereo/KITTI03.yaml (1960, 2023-10-08)
Examples/Stereo/KITTI04-12.yaml (1961, 2023-10-08)
Examples/Stereo/stereo_euroc (58752, 2023-10-08)
Examples/Stereo/stereo_euroc.cc (6657, 2023-10-08)
Examples/Stereo/stereo_kitti (49752, 2023-10-08)
Examples/Stereo/stereo_kitti.cc (4822, 2023-10-08)
LICENSE.txt (35146, 2023-10-08)
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# Orbeez-SLAM
The paper is available in https://arxiv.org/abs/2209.13274
- [Video](https://www.youtube.com/watch?v=XVrVLun0ckk&ab_channel=%E9%8D%BE%E8%B5%B7%E9%B3%B4)
More details can be found in my master thesis (Main content is written in English).
- [offical link (require registration to download)](https://etds.ncl.edu.tw/cgi-bin/gs32/gsweb.cgi/ccd=ldn10D/record?r1=1&h1=0)
- [pdf](https://drive.google.com/file/d/1WYjB8JAu0lATqvtImMTieT8PcewzS5CM/view)
Orbeez-SLAM is implemented with two open source projects
- [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2) (GPLv3 license)
- [instant-ngp](https://github.com/NVlabs/instant-ngp) (Nvidia Source Code License-NC)
## License
This repo is GPLv3 Licensed (inherit ORB-SLAM2). It reimplements parts of ORB-SLAM2. Our changes to instant-NGP (Nvidia License) are released in [our fork of instant-ngp](https://github.com/MarvinChung/instant-ngp-kf/tree/8344e4e63af70b0a792ff83bfdeb4c67b477681e) and added here as a thirdparty dependency using git submodules. Several evaluation files in `scripts` are BSD License.
## How to build
Please refer to [BUILD.md](./BUILD.md)
## RUN on TUM
Please refer to [TUM.md](./TUM.md)
## RUN on Replica
Please refer to [Replica.md](./Replica.md)
## RUN on ScanNet
Please refer to [ScanNet.md](./ScanNet.md)
## RUN on a custom dataset
Please refer to [Custom.md](./Custom.md)
## Evaluation
Please refer to [Eval.md](./Eval.md)
## Acknowledgments
This work has been possible thanks to the open-source code from [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2) and [instant-ngp](https://github.com/NVlabs/instant-ngp), as well as the open-source datasets [Replica](https://github.com/facebookresearch/Replica-Dataset) and [TUM-dataset](https://vision.in.tum.de/data/datasets/rgbd-dataset/download).
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