{"id":19315775,"url":"https://github.com/anathonic/trajectory-comparison-orb-slam3-pyslam","last_synced_at":"2025-08-17T13:40:00.808Z","repository":{"id":239649256,"uuid":"799686578","full_name":"anathonic/trajectory-comparison-ORB-SLAM3-pySLAM","owner":"anathonic","description":"It is one of the part of my master's thesis, involving computing the Absolute Pose Error (APE) and Relative Pose Error (RPE) of trajectories collected from two environments: PySLAM and ORB-SLAM3","archived":false,"fork":false,"pushed_at":"2024-05-16T21:45:15.000Z","size":2269,"stargazers_count":5,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-04-12T13:09:11.152Z","etag":null,"topics":["orbslam","orbslam3","pose-estimation","python","slam","trajectory-alignment","trajectory-analysis"],"latest_commit_sha":null,"homepage":"","language":"Jupyter Notebook","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/anathonic.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-05-12T21:34:21.000Z","updated_at":"2025-01-07T18:21:35.000Z","dependencies_parsed_at":null,"dependency_job_id":"3dfc5055-eac9-4776-9fd0-c5849a895035","html_url":"https://github.com/anathonic/trajectory-comparison-ORB-SLAM3-pySLAM","commit_stats":null,"previous_names":["anathonic/trajectory-comparison-orb-slam3-pyslam"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/anathonic/trajectory-comparison-ORB-SLAM3-pySLAM","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/anathonic%2Ftrajectory-comparison-ORB-SLAM3-pySLAM","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/anathonic%2Ftrajectory-comparison-ORB-SLAM3-pySLAM/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/anathonic%2Ftrajectory-comparison-ORB-SLAM3-pySLAM/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/anathonic%2Ftrajectory-comparison-ORB-SLAM3-pySLAM/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/anathonic","download_url":"https://codeload.github.com/anathonic/trajectory-comparison-ORB-SLAM3-pySLAM/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/anathonic%2Ftrajectory-comparison-ORB-SLAM3-pySLAM/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":270856564,"owners_count":24657688,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-08-17T02:00:09.016Z","response_time":129,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["orbslam","orbslam3","pose-estimation","python","slam","trajectory-alignment","trajectory-analysis"],"created_at":"2024-11-10T01:08:12.959Z","updated_at":"2025-08-17T13:40:00.782Z","avatar_url":"https://github.com/anathonic.png","language":"Jupyter Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Trajectory Comparison: ORB-SLAM3 vs. pySLAM\n\nThis repository contains code and data for comparing trajectories generated by two different SLAM systems: ORB-SLAM3 and pySLAM. Specifically, it focuses on computing the Absolute Pose Error (APE) and Relative Pose Error (RPE) of trajectories collected from two environments.\n\n## Files\n\n- **MH01_GT.tum**: EuRoC ground truth trajectory in TUM format.\n- **f_ORBSLAM3_EuRoC_TUM_Trajectory.tum**: Trajectory generated by ORB-SLAM3 for the EuRoC dataset.\n- **f_pySLAM_EuRoC_TUM_Trajectory.tum**: Trajectory generated by pySLAM for the EuRoC dataset.\n- **trajectories_comparison.ipynb**: Jupyter Notebook containing code to plot trajectories with ground truth.\n\n## Trajectory Collection\n\nThe pySLAM trajectories were collected using my implementation of trajectory saving, available [here](https://github.com/anathonic/pyslam/tree/trajectory_saving). This implementation supports trajectory saving in three different formats: KITTI, TUM, and EuRoC.\n\n## Dependencies\n\n- **evo**: A Python package for pose evaluation. Install it via pip:\n\n```bash\npip install evo\n```\n\n## Usage\n\n1. Clone the repository:\n\n```bash\ngit clone https://github.com/anathonic/Trajectory-Comparison-ORB-SLAM3-pySLAM.git\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fanathonic%2Ftrajectory-comparison-orb-slam3-pyslam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fanathonic%2Ftrajectory-comparison-orb-slam3-pyslam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fanathonic%2Ftrajectory-comparison-orb-slam3-pyslam/lists"}