2023.08.19 In fact, I don't maintain this repository anymore, but I feel that some friends may be interested in this code. And I found out that the links of UcoSLAM and SPM-SLAM below can no longer be opened, so I put the previous information and data on the Baiduwangpan, hoping that could be useful. In addition, I really forgot some details about the code, but this code does only need some dependencies based on ORB_SLAM2 to run, and then it is reasonable to realize the initial scale correction and closed-loop correction.
其实我现在已经不维护这个仓库了，但感觉有些同学可能对这个代码感兴趣。然后才发现下面UcoSLAM和SPM-SLAM的链接已经打不开了，因此我把以前的资料和数据放在了网盘上（包括最开始SPM-SLAM放在网上的数据和我自己处理的脚本、参数文件），希望对大家有所帮助。另外，关于代码的一些细节，我是真的有点忘了，但是这个代码确实只需要基于ORB_SLAM2的一些依赖即可运行，然后讲道理是可以实现初始化的尺度校正和闭环修正等操作的。
link 链接: https://pan.baidu.com/s/1m0gLQ1aM8pWfjZNbCZRzKw 提取码: jc4i
./mono_cvcam path_to_vocabulary videofile cameraparams.yml outposes ARUCO_DIC
没记错的话，spm video1-8 的ARUCO_DIC是ARUCO，samsung7_markers的ARUCO_DIC是ARUCO_MIP_25h7。
I'm now adding some new features in this program. I will open the whole source when I finish it. Please be waiting.
This SLAM system is based on ORB_SLAM2.
I added fiducial markers--Aruco to obtain the scale, decrease scale drift, and track in large-scale environment.
I learned a lot from UcoSLAM, and wrote the codes from my personal understanding.
- It can initialize map by Aruco or Keypoints. If initial by Keypoints, there is a module to correct scale.(In the LocalMapping thread, I commented this code because I usually use aruco to initial map. But it still work)
- It can track by MapPoint and MapAruco features.
- It can update all features and keyframe in localMapping thread.
- It can detect and correct loop by MapAruco or MapPoints, and update all features in the global bundle adjustment.
- It can show Aruco in the map.
The code in /Examples/Monocular/mono_cvcam.cc is come from SPM-SLAM
R. Mur-Artal, J. M. M. Montiel, and J. D. Tardos, “ORB-SLAM: a Versatile and Accurate Monocular SLAM System,” IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147–1163, 2015.
Rafael Muñoz-Salinas,Manuel J. Marín-Jiménez Manuel and Rafael Medina-Carnicer , "SPM-SLAM: Simultaneous Localization and Mapping with Squared Planar Markers", September 2018 Pattern Recognition DOI: 10.1016/j.patcog.2018.09.003
Rafael Muñoz-Salinas, R. Medina-Carnicer, "UcoSLAM: Simultaneous localization and mapping by fusion of keypoints and squared planar markers," Pattern Recognition, 2020,107193
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