https://github.com/anathonic/trajectory-comparison-orb-slam3-pyslam
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
https://github.com/anathonic/trajectory-comparison-orb-slam3-pyslam
orbslam orbslam3 pose-estimation python slam trajectory-alignment trajectory-analysis
Last synced: 10 months ago
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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
- Host: GitHub
- URL: https://github.com/anathonic/trajectory-comparison-orb-slam3-pyslam
- Owner: anathonic
- Created: 2024-05-12T21:34:21.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2024-05-16T21:45:15.000Z (about 2 years ago)
- Last Synced: 2025-04-12T13:09:11.152Z (about 1 year ago)
- Topics: orbslam, orbslam3, pose-estimation, python, slam, trajectory-alignment, trajectory-analysis
- Language: Jupyter Notebook
- Homepage:
- Size: 2.16 MB
- Stars: 5
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Trajectory Comparison: ORB-SLAM3 vs. pySLAM
This 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.
## Files
- **MH01_GT.tum**: EuRoC ground truth trajectory in TUM format.
- **f_ORBSLAM3_EuRoC_TUM_Trajectory.tum**: Trajectory generated by ORB-SLAM3 for the EuRoC dataset.
- **f_pySLAM_EuRoC_TUM_Trajectory.tum**: Trajectory generated by pySLAM for the EuRoC dataset.
- **trajectories_comparison.ipynb**: Jupyter Notebook containing code to plot trajectories with ground truth.
## Trajectory Collection
The 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.
## Dependencies
- **evo**: A Python package for pose evaluation. Install it via pip:
```bash
pip install evo
```
## Usage
1. Clone the repository:
```bash
git clone https://github.com/anathonic/Trajectory-Comparison-ORB-SLAM3-pySLAM.git
```