nicolov / vslam_evaluation

Evaluation of open-source visual SLAM packages

Visual SLAM evaluation code

Code for the evaluation of open-source visual-odometry/SLAM systems I wrote about in my blog. You'll need to install the packages separately, as this repo only contains the configurations and ROS launch file needed to reproduce my results.

• viso2: repo
• rovio: repo
• ORB-SLAM2: repo

Remember that all of these packages greatly benefit from compiler optimization, and need the appropriate CMake flags when building:

catkin build package --cmake-args -DCMAKE_BUILD_TYPE=Release

Running

First, download the V1_01_easy.bag from the dataset page into your home folder. Each of the launch files will record its output into a new bag in the out folder:

roslaunch vslam_evaluation orbslam.launch
roslaunch vslam_evaluation rovio.launch
roslaunch vslam_evaluation viso2.launch

You can then run the plotting code (both Matplotlib and Plotly).