PL-SLAM是Ruben Gomez-Ojeda大神融合点和线特征SLAM的最新成果,并开放了源代码,本博文记录安装运行PL-SLAM遇到的一些问题. 1源代码地址 https://github.com/rubengooj/pl-slam 2编译配置PL-SLAM 安装依赖 OpenCV 3.x.x It can be easily found at http://opencv.org. 建议安装OpenCV 3.1.0,否则编译过程中...
https://github.com/RainerKuemmerle/g2o.git 这里在编译时可能会出现错误,将安装好的g2o文件夹中的cmake_modules文件夹复制到~/pl-slam文件夹中即可。 YAML (tested with 0.5.2) Installation on Ubuntu: sudo apt-getinstall libyaml-cpp-dev stvo-pl It can be found at: https://github.com/rubengooj...
代码:https://github.com/luigifreda/plvs.git 摘要 本文介绍了PLVS:一种稀疏、栅格建图和3D无监督增量分割的实时SLAM系统。PLVS代表Points(点)、Lines(线)、Volumetric mapping(栅格建图)和Segmentation(分割)。它支持RGB-D和双目摄像头,可以选择搭配IMU。SLAM模块是基于关键帧的提取和跟踪稀疏点和线段作为特征。
PL-SLAM源码GitHub链接 stvo-pl 源码GitHub链接2.ROS安装安装ROS可以省去很多配置上的麻烦,过程参考链接2.1 删除init文件完全安装ROS-Kinetic后,需要输入$ sudo rosdep init $ rosdep update 1 2进行初始化和更新。但是经常在更新这一步由于各种原因(主要是网络原因)导致安装失败。需要对ini进行撤销,在终端中输入即可...
随笔分类 -PLSLAM笔记 公告 昵称:Eason_Jiang 园龄:8年3个月 粉丝:20 关注:2 +加关注 <2025年3月> 日一二三四五六 2324252627281 2345678 9101112131415 16171819202122 23242526272829 303112345 1. Re:Skimap_ros 利用RGBD创建Octomap(一) @P01470258 兄弟,你找到这个skimap_ros github上的数据集了吗?... ...
利用线特征来提高基于点特征的视觉惯性SLAM(VINS)的定位精度越来越重要,因为它们提供了结构化场景中规则性的额外约束,然而,实时性能一直没有得到关注。本文介绍了PL-VINS,一种基于实时优化的具有点和线的单目VINS方法,它是在最新的基于点的VINS Mono的基础上发展起来的。观察到目前的工作是使用LSD算法来提取直线,但是...
PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line.@misc{fu2020plvins, title={PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line}, author={Qiang Fu and Jialong Wang and Hongshan Yu and Islam Ali and Feng Guo and Hong Zhang}, year={2020}, eprint...
For running SLAM we can load the default parameters file or employ theconfig_xxxx.yamlfiles provided for every dataset. Usage: ./plslam_dataset <dataset_name> [options] Options: -c Config file -o Offset (number of frames to skip in the dataset directory -n Number of frames to process th...
Thread 19 "plslam_dataset" hit Breakpoint 2, PLSLAM::MapLine::addMapLineObservation (this=this@entry=0x7fff9001a240, desc_=..., kf_obs_=kf_obs_@entry=1, obs_=..., dir_=..., pts_=..., sigma2_=sigma2_@entry=1) at /home/litw/litw/prjs/pl-slam-master/src/mapFeatures.cp...
(ii)self-discovered maskfor detecting and removing dynamic regions and occlusions during training towards higher accuracy. The predicted depth is sufficiently accurate and consistent for use in the ORB-SLAM2 system. The below video showcases the estimated depth in the form of pointcloud (top) and...