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line feature based SLAM, modified based on the famous ORB-SLAM2

C++ 45.83% CMake 4.22% C 11.16% Makefile 37.86% Shell 0.11% Python 0.50% Cuda 0.01% Objective-C 0.06% Objective-C++ 0.26%

orb_line_slam's Introduction

ORB_Line_SLAM

line feature based SLAM, modified based on the famous ORB-SLAM2

Maintenance

  • This repository served as my CMPUT630 Course Project in 2017.
  • This repository is no longer maintained since I moved my interest to robot manipulation research.
  • Current problem is the accuracy of line correspondence detection when using the sparse feature points generated by ORB-SLAM. That's also the reason why very few map points are generated apart from the original points in ORB-SLAM.
  • If you are interested in SLAM using line features, I higly recommend you the research done by our lab member Shida:

Incremental 3D Line Segment Extraction for Surface Reconstruction from Semi-dense SLAM

Some results from Shida's work:

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