Light VO

A light version SLAM could run with IoT devices

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Prerequisites

• ROS kinetic
• OpenCV 3.0+
• In Real-time version: any monocular camera
• In Dataset version: KITTI sequence 00

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How to install

1. Create a ROS workspace

mkdir -p slam_ws/src
cd slam/src
catkin_init_workspace

2. Clone the repository:

git clone https://github.com/Jing-lun/LightSLAM.git

3. Build

cd ..
catkin_make -j4

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How to run in real time

1. Install your own camear's driver in ros

2. Calibrate your camera

3. Change the topic and calibration path to your own version

cd slam_ws/src/light_slam/launch
gedit VO.launch

4. Run it

cd slam_wa
source devel/setup.bash
roslauch light_slam VO.launch

5. Don't forget to open your camera's node! Here's my camera noed:

roslaunch pointgrey_camera_driver camera.launch

How to run with dataset (especially for mono-slam)

1. Change the dataset path in src/test_dataset.cc and run_dataset.sh

2. Rebuild && Run it