btree-c802,BTREE,github

3dline-slam

3DLines-SLAM: A Monocular Vision Semi-Dense 3D Reconstruction Based on ORB-SLAM Abstract-Producing high-quality 3D maps and calculating more accurate camera pose has always been the goal of SLAM technology. The requirements of SLAM technology such as real-time, low computational cost, and low hardware cost are contradictory to the above objectives. For the issues listed above, we propose a novel semi-dense reconstruction algorithm based on the monocular ORB-SLAM system by matching the line segment features extracted from keyframes. Specifically, we build upon ORB-SLAM, the system first provides a set of keyframes and their corresponding camera poses and a series of map points in real-time. Then we use our developed a keyframe re-culling algorithm to culling redundant keyframes. Then an improved line segment extraction method is used to extract line segments in each keyframe. Finally, we use purely geometric constraints to generates accurate 3D scene model by matching 2D line segments from different keyframes. We thoroughly evaluate and in-depth analysis of our approach, the results show our system runs steadily and reliably. Not only the whole system has strong robustness, but also it can quickly generate an accurate 3d model online with low computational costs.

astra_videocapture

使用厂家为奥比中光的Astra-s深度摄像头采集3DLine-SLAM所使用的数据集，该数据集的形式和TUM RGB-D 数据集的形式是一样的，采集的数据集可以在ORB-SLAM程序上进行使用，需要说明的是：3DLine-SLAM算法为我们新开发的算法，该算法在ORB-SLAM上进行开发。

cameracalibrate

相机标定程序

dragoon

六足机器人

dso_ros

forked from https://github.com/JakobEngel/dso_ros

dvo_slam

Dense Visual Odometry and SLAM

ed_lib

Implementations of edge (ED, EDColor, EDPF), line (EDLines), circle (EDCircles) detection algorithms.

edgedrawing

该程序是边缘检测代码，论文是ED那篇，用锚点法，里面的内容对论文还原度很高。参数也想同，锚点设定方法是我自己改进的锚点设定方法。我们将该改进的锚点法用于我们在ORB-SLAM方法基础上改进而来的3DLine-SLAM，图片测试完后会写下三张测试图片，分别是梯度图（GradientImg.jpg）/锚点图（AnchorImg.jpg）/边缘图（SaveImage.png）。注意：在将一张输入图进行边缘描绘测试时，会显示一些列过程图且会保存一些试验结果，如果要将该程序运行于您自己的程序中，则需要将一部分程序段进行删除。

elasticfusion

Real-time dense visual SLAM system

glfw

A multi-platform library for OpenGL, OpenGL ES, Vulkan, window and input

insectrobotsimulation

hexapod

kinect2.0-opencv

Using Kinect 2.0 + OpenCV to get Depth Data, Body Data, Hand State and Body Index Data.

kinect2_videocapture

该算法为在Linux下使用微软公司开发的Kinect2.0深度相机采集同TUM RGB-D数据集相同形式的数据的小程序。该程序在Linux下可以运行，帧率大概以来计算机性能可以保持25帧以上采集速率。数据集可以使用在我们自己开发的3DLine-SLAM程序上，构建出半稠密地图，同时该采集的数据也可以使用在ORB-SLAM程序上。注意：对应的相机内参受多种因素影响需要自行测量得出，直接使用TUM的数据精度会有一定区别。