PL-VINS (PDF) can yield higher accuracy than VINS-Mono (2018 IROS best Paper, TRO Honorable Mention Best Paper) at the same work frequency on a low-power CPU Intel Core i7-10710U @1.10 GHz.
Thank Jialong Wang (湖南大学机器人视觉感知与控制技术国家工程实验室研三) for helping me code this system, he makes huge contribution in this work. By the way: Mr Wang is really a SLAM enthusiast and looking for a related job. If you can provide a nice Job Opportunity, please contact Jialong Wang <[email protected] > .
This respository is an initial version, it will be improved further in the coming months.
1.1 Ubuntu and ROS
Ubuntu 18.04. ROS Melodic, please google it.
1.2. Dependency
Eigen 3.3.4 + OpenCV 3.2+ Cere-solver: Ceres Installation, remember to sudo make install.
Clone the repository and catkin_make (# note that you will create a new workspace named catkin_plvins):
mkdir -p ~/catkin_plvins/src
cd ~/catkin_plvins/
catkin_make
source devel/setup.bash
echo $ROS_PACKAGE_PATH # test you have created it successfully
git clone https://github.com/cnqiangfu/PL-VINS.git
Notice: before the second catkin_make, you need to go through /PL-VINS/feature_tracker/CMakeLists.txt, see the sign # Important in the CMakeLists.txt, and modify two absolute paths to correctly find the modified LSD algorithm, and you also need to make sure OpenCV 3.2 there.
catkin_make
source /devel/setup.bash
Download EuRoC MAV Dataset. We suggust you select difficult sequences to test.
run in the ~/catkin_plvins/
roslaunch plvins_show_linepoint.launch
rosbag play YOUR_PATH_TO_DATASET/MH_05_difficult.bag
or
roslaunch plvins_estimator euroc_fix_extrinsic.launch #This launch runs without loop
Now you should be able to run PL-VINS in the ROS RViZ.
Note that: if you want obtain motion trajectory and compare it to your method. Please modify the ouput paths: /PL-VINS/vins_estimator/src/visualization.cpp (trajectory without loop) and /PL-VINS/pose_graph/src/pose_graph.cpp (trajectory with loop).
Note that:It is an interesting thing we find that different CPU maybe yield different result whether VINS-Mono or PL-VINS, maybe the reason of ROS mechanism. Therefore, we suggest you compare different methods on your machine by yourself.
- PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line.
@misc{fu2020plvins,
title={PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line},
author={Qiang Fu and Jialong Wang and Hongshan Yu and Islam Ali and Feng Guo and Hong Zhang},
year={2020},
eprint={2009.07462},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
This paper is developed based on VINS-Mono [1], PL-VIO [2], and our previous work [3].
[1] Vins-mono: A robust and versatile monocular visual-inertial state estimator
[2] Pl-vio: Tightly-coupled monocular visual-inertial odometry using point and line features
[3] A robust RGB-D SLAM system with points and lines for low texture indoor environments
If you find aforementioned works helpful for your research, please cite them.
Thank Dr. Qin Tong, Dr. Peiliang Li, and Prof. Shen (VINS-Mono); Dr. Yijia He, Ji Zhao, Yue Guo, Wenhao He, and Kui Yuan(PL-VIO) very much.
The source code is released under GPLv3 license.