https://github.com/yan-lu/LineSLAM

Line feature based RGBD SLAM, supporting fusion with point feature
https://github.com/yan-lu/LineSLAM

Last synced: 2 months ago
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Line feature based RGBD SLAM, supporting fusion with point feature

• Host: GitHub
• URL: https://github.com/yan-lu/LineSLAM
• Owner: yan-lu
• License: gpl-3.0
• Created: 2015-12-26T00:41:40.000Z (about 9 years ago)
• Default Branch: master
• Last Pushed: 2016-02-18T06:14:40.000Z (almost 9 years ago)
• Last Synced: 2023-10-20T04:07:08.079Z (over 1 year ago)
• Language: C++
• Homepage: http://telerobot.cs.tamu.edu/MFG/rgbd/plvo
• Size: 8.24 MB
• Stars: 77
• Watchers: 7
• Forks: 45
• Open Issues: 6
• Metadata Files:
  • Readme: README.md
  • License: COPYING

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• awesome-slam - CODE

README

        
##LineSLAM

Line feature based RGBD SLAM, supporting fusion with point features, developed based on [RGBDSLAM v2](http://felixendres.github.io/rgbdslam_v2/). 

===============

###Dependencies

1. ROS hydro

2. OpenCV 2.4.X

3. [OpenBLAS](http://www.openblas.net/) (build from source)

4. [Armadillo](http://arma.sourceforge.net/)

5. Eigen3 (download from [official website](http://eigen.tuxfamily.org/index.php?title=Main_Page) and *replace* the default one if on Ubuntu)

6. [LSD](http://www.ipol.im/pub/art/2012/gjmr-lsd/), [EDLines](http://ceng.anadolu.edu.tr/CV/downloads/downloads.aspx), [levmar](http://users.ics.forth.gr/~lourakis/levmar/) : included in this repo.

===============

###Installation

Refer to http://felixendres.github.io/rgbdslam_v2/

========

###Usage

roslaunch lineslam lineslam.launch

============

###Reference

Yan Lu and Dezhen Song, "Robust RGB-D Odometry Using Point and Line Features" , *IEEE International Conference on Computer Vision (ICCV)*, Santiago, Chile, Dec. 13-16, 2015