ORB-SLAM3 but for underwater environments.

Currently only implemented with monocular setups.

• Implement depth readings with mono setup
• Add CLAHE image preprocessing
• Implement depth readings with mono-inertial setup
• Add underwater ORB vocabulary
• Add prerequisites used in installing ROS + standard packages This instruction require ROS to already be installed: install ROS Noetic

Uses the ROS implementation written by tien94. The implementation can be found here.

The instructions are copied from the same repo.

sudo apt install git ros-noetic-catkin python3-catkin-tools

This package uses catkin build. Tested on Ubuntu 20.04.

sudo apt install libeigen3-dev

cd ~
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake ..
make
sudo make install
sudo ldconfig

Check the OpenCV version on your computer (required at least 3.0):

python3 -c "import cv2; print(cv2.__version__)" 

On a freshly installed Ubuntu 20.04.4 LTS with desktop image, OpenCV 4.2.0 is already included. If a newer version is required (>= 3.0), follow installation instruction and change the corresponding OpenCV version in CMakeLists.txt

Technically this package is optional, but is used by default within the project. TODO: Make this optional.

Install hector-trajectory-server to visualize the real-time trajectory of the camera/imu. Note that this real-time trajectory might not be the same as the keyframes' trajectory.

sudo apt install ros-noetic-hector-trajectory-server

mkdir catkin_ws .... bla 
cd ~/catkin_ws/src
git clone https://github.com/einatomter/orb_u
cd ../
catkin build

Dataset aqualoc Harbour