rising-turtle / graph_slam

Graph SLAM: VO, IMU Preintegration, Plane

graph_slam

Graph SLAM: VO, IMU Preintegration, Plane, Line

g2o

test_g2o_graph.cpp: Implementation of visual SLAM based on g2o.
frontend: VRO details in https://github.com/rising-turtle/visual_odometry
backend: g2o optimization https://github.com/RainerKuemmerle/g2o

gtsam

test_gt_graph.cpp: Implementation of visual SLAM based on gtsam
test_plane_check_vo.cpp: check out distance of two measurements for the same plane test_vro_imu_graph.cpp: Implementation of VIO+Plane SLAM
test_ba_imu_graph.cpp: different from test_vro_imu_graph.cpp generate matches using bundle adjustment details explained in paper

• H. Zhang and C. Ye, “Plane-Aided Visual-Inertial Odometry for Pose Estimation of a 3D Camera based Indoor Blind Navigation,” to in Proceedings of 2017 British Machine Vision Conference.

mapping

generate PCD, PLY maps
generate video by showing the trajectories generated by different SLAM methods

graph_slam's Issues

How to run this project

Hello, I'm interested in your work. Can you provide relevant data files so that the program can run normally?

How to compile this project

hello, the project seems very outstanding.
But I don't know how to compile it and see the performance of it.
Looking forward to your reply~