{"id":13528540,"url":"https://github.com/izhengfan/se2clam","last_synced_at":"2025-04-01T13:33:06.240Z","repository":{"id":50660305,"uuid":"173699167","full_name":"izhengfan/se2clam","owner":"izhengfan","description":"SE(2)-Constrained Localization and Mapping by Fusing Odometry and Vision (IEEE Transactions on Cybernetics 2019)","archived":false,"fork":false,"pushed_at":"2020-05-10T02:26:28.000Z","size":140,"stargazers_count":161,"open_issues_count":3,"forks_count":55,"subscribers_count":9,"default_branch":"master","last_synced_at":"2024-11-02T14:35:45.665Z","etag":null,"topics":["g2o","graph-optimization","robotics","ros","slam","state-estimation","visual-slam"],"latest_commit_sha":null,"homepage":"https://github.com/izhengfan/se2clam","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/izhengfan.png","metadata":{"files":{"readme":"README.MD","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2019-03-04T07:55:28.000Z","updated_at":"2024-07-19T10:03:56.000Z","dependencies_parsed_at":"2022-08-23T16:40:31.920Z","dependency_job_id":null,"html_url":"https://github.com/izhengfan/se2clam","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/izhengfan%2Fse2clam","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/izhengfan%2Fse2clam/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/izhengfan%2Fse2clam/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/izhengfan%2Fse2clam/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/izhengfan","download_url":"https://codeload.github.com/izhengfan/se2clam/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":246647802,"owners_count":20811387,"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","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":["g2o","graph-optimization","robotics","ros","slam","state-estimation","visual-slam"],"created_at":"2024-08-01T07:00:20.913Z","updated_at":"2025-04-01T13:33:05.870Z","avatar_url":"https://github.com/izhengfan.png","language":"C++","funding_links":[],"categories":["2. Visual SLAM"],"sub_categories":["2.5 Others"],"readme":"se2clam\n---\nSE(2)-Constrained Localization and Mapping by Fusing Odometry and Vision\n\n[![](../../workflows/Build/badge.svg)](../../actions?query=workflow%3A\"Build\")\n\n### Related Publication\n\n- Fan Zheng, Hengbo Tang, Yun-Hui Liu. \"Odometry-Vision-Based Ground Vehicle Motion Estimation With SE(2)-Constrained SE(3) Poses\". _IEEE Transactions on Cybernetics_, vol. 49, no. 7, 2019\n\n  To cite it in bib:\n  ```\n  @article{fzheng2018tcyb,\n    author  = {Fan Zheng and Hengbo Tang and Yun-Hui Liu},\n    journal = {IEEE Trans. Cybernetics},\n    title   = \"{Odometry-Vision-Based Ground Vehicle Motion Estimation With SE(2)-Constrained SE(3) Poses}\",\n    volume  = {49},\n    number  = {7},\n    year    = {2019},\n  }\n  ```\n\n\n### Dependencies\n\n- ROS (tested on Kinetic/Melodic)\n\n- OpenCV 2.4.x / 3.1 above\n\n- g2o ([2016 version](https://github.com/RainerKuemmerle/g2o/releases/tag/20160424_git))\n\n### Build\n\nBuild this project as a ROS package\n\n### Demo\n\n1. Download [DatasetRoom.zip](https://mycuhk-my.sharepoint.com/:u:/g/personal/1155051778_link_cuhk_edu_hk/Ef4NuXvLZI1JhfljH9LkNxUB5xrDrCOrRnxwztO5bGKlew?e=U4aind), and extract it. In a terminal, `cd` into `DatasetRoom/`.\n\n   We prepare two packages of odometry measurement data, one is more accurate (`odo_raw_accu.txt`), the other less accurate (`odo_raw_roug.txt`). To use either one of them, copy it to `odo_raw.txt` in `DatasetRoom/`.\n\n2. Download [ORBvoc.bin](https://mycuhk-my.sharepoint.com/:u:/g/personal/1155051778_link_cuhk_edu_hk/EaF2ZkP17rdJrUHT0mrcf74Bl1h_691xZrxNILGbQbYFmA?e=nXRSS4).\n\n3. Run rviz:\n\n   ```\n   roscd se2clam\n   rosrun rviz rviz -d rviz.rviz\n   ```\n\n4. Run se2clam:\n   \n   ```\n   rosrun se2clam test_vn PATH_TO_DatasetRoom PATH_TO_ORBvoc.bin\n   ```\n\n   ![result in rviz](https://images.gitee.com/uploads/images/2019/0304/231649_cdb48a5e_874043.png)\n   \n   \n### Related Project\n\n[izhengfan/se2lam](https://github.com/izhengfan/se2lam)  \n[izhengfan/ORB_SLAM2](https://github.com/izhengfan/ORB_SLAM2)\n\n### License \n\n[MIT](LICENSE)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fizhengfan%2Fse2clam","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fizhengfan%2Fse2clam","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fizhengfan%2Fse2clam/lists"}