git clone https://github.com/lukasvst/dm-vio.git The following instructions have been tested with Ubuntu 20.04. The system is also known to work well on Ubuntu 16.04, 18.04 and MacOS Big Sur (only Intel Macs have been tested so far). ...
DM-VIO: Delayed Marginalization Visual-Inertial Odometry, L. von Stumberg and D. Cremers, In IEEE Robotics and Automation Letters (RA-L), volume 7, 2022 Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization, L. von Stumberg, V. Usenko and D. Cremers, In International Conference...
1、下载源码 https://github.com/lukasvst/dm-viohttps://github.com/lukasvst/dm-vio-ros 2、编译 编译主要有两点需要注意: 1)pangolin的版本需要是0.6; 由于我系统里面的版本不是0.6,为了避免冲突,我编译到指定目录下,然后在CMakeLists.txt中添加位置; a、cmake -DCMAKE_INSTALL_PREFIX=/xxx/x ..指定...
git clone https://github.com/lukasvst/dm-vio-python-tools.git cd dm-vio-python-tools python3 create_config.py --name=workpc --dmvio_folder=/path/to/dmvio --results_folder=/results/will/be/saved/here Step 2: Download and Prepare datasets ...
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Breadcrumbs dm-vio / CMakeLists.txtTop File metadata and controls Code Blame 207 lines (176 loc) · 7.01 KB Raw SET(PROJECT_NAME DMVIO) PROJECT(${PROJECT_NAME}) CMAKE_MINIMUM_REQUIRED(VERSION 3.1) IF(NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE RelWithDebInfo) ENDIF() set(BUILD_TYPE...
开源地址: https://github.com/lukasvst/dm-vio 录用:2022 Robotics and Automation Letters (RA-L) DM-VIO是一种基于延迟边缘化和位姿图BA的单目视觉惯性里程计。该系统单目VIO超过了sota 方法,甚至在某些情况下超过了性能最好的双目VIO。 延迟边缘化是啥?先说说边缘化,它常用于保证系统更新时间,但边缘化后很...
DM-VIO数据集测试 1、下载源码 https://github.com/lukasvst/dm-vio https://github.com/lukasvst/dm-vio-ros 1. 2. 2、编译 编译主要有两点需要注意: 1)pangolin的版本需要是0.6; 由于我系统里面的版本不是0.6,为了避免冲突,我编译到指定目录下,然后在CMakeLists.txt中添加位置;...
ROS wrapper for DM-VIO: Delayed Marginalization Visual-Inertial Odometry - dm-vio-ros/msg/DMVIOPoseMsg.msg at master · lukasvst/dm-vio-ros
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