https://github.com/eshan-sud/minor-project
3D Mapping Using SLAM Technolgoy
https://github.com/eshan-sud/minor-project
3d-mapping orb-slam3 rgbd-slam ros2-humble rviz2 slam slam-al visual-slam
Last synced: 8 months ago
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3D Mapping Using SLAM Technolgoy
- Host: GitHub
- URL: https://github.com/eshan-sud/minor-project
- Owner: eshan-sud
- License: mit
- Created: 2025-01-26T19:51:39.000Z (9 months ago)
- Default Branch: main
- Last Pushed: 2025-02-16T18:12:11.000Z (8 months ago)
- Last Synced: 2025-02-16T18:35:00.893Z (8 months ago)
- Topics: 3d-mapping, orb-slam3, rgbd-slam, ros2-humble, rviz2, slam, slam-al, visual-slam
- Language: Shell
- Homepage:
- Size: 174 MB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# 3D Mapping using SLAM
A repository of my learning of Visual & RGB-D SLAM used for 3D mapping of indoor environments with a \
Raspberry Pi 5 & an External camera
## Aim:
Mapping of indoor environments using RGB-D SLAM algorithm on a Raspberry Pi 5 with a Microsoft Kinect v1 \
as a camera module and using the RGB camera data along with its depth data to create and visualise a 3D structure of the environment.
## References (Repos I have used / taken reference from):
### 1. OpenCV4:
https://github.com/opencv/opencv
### 2. OpenCV4 Contrib:
https://github.com/opencv/opencv_contrib
### 3. ROS2 Image Common:
https://github.com/ros-perception/image_common
### 4. ROS2 OpenCV:
https://github.com/ros-perception/vision_opencv
### 5. Pangolin:
https://github.com/stevenlovegrove/Pangolin
### 6. ORB-SLAM3:
https://github.com/egdw/ORB_SLAM3_Ubuntu20.04
### 7. ORBS_SLAM3 ROS2 Wrapper:
https://github.com/ozandmrz/orb_slam3_ros2_mono_publisher [Forked]
### 8. Installation of ROS2:
https://github.com/ozandmrz/ros2_raspberry_pi_5
## Software Required
1. ROS2 (Humble Hawksbill)
2. Ubuntu (20.04 - Focal)
3. Eigen3 (3.3.7)
4. G2O ()
5. Sophus ()
6. Pangolin (4.5.0)
7. OpenGL (3.1)
8. OpenCV (4.12.0-dev)
9. CMAKE (3.25.1)
10. ORB-SLAM3
11. Raspian OS (12 (bookworm))
12. Mesa (23.2.1-1~bpo12+rpt3)
## Hardware Used
1. Raspberry Pi 5 ()
2. Raspberry Pi Fan & Heatsink
3. Raspberry Pi Power Adaptor (minimum 27 Watts)
4. 256 GB Mircro SD Card
5. Microsoft Kinect V1
6. External Web Camera
## Build the Project
"The build commands in the file build.sh installs all the required software, \
frameworks and any additional dependencies required by the user automatically"
- Clone the project:
git clone https://github.com/eshan-sud/minor-project
- Run these conmmands on the shell
cd ~/minor-project/
chmod +x build.sh
./build.sh
- Additonal Instructions:
- When prompted to choose mode when downgrading GCC version to 11 ; Enter the value '0'
## Contact the author
- eshansud22@gmail.com