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RGBD-Inertial Trajectory Estimation and Mapping for Small Ground Rescue Robot

Based one open source SLAM framework VINS-Mono.

The approach contains

• Depth-integrated visual-inertial initialization process.
• Visual-inertial odometry by utilizing depth information while avoiding the limitation is working for 3D pose estimation.
• Noise elimination map which is suitable for path planning and navigation.

However, the proposed approach can also be applied to other application like handheld and wheeled robot.

1. Prerequisites

1.1. Ubuntu 16.04 or 18.04.

1.2. ROS version Kinetic or Melodic fully installation

1.3. Ceres Solver Follow Ceres Installation

1.4. Sophus

  git clone http://github.com/strasdat/Sophus.git
  git checkout a621ff

2. Datasets

Recording by RealSense D435i. Contain 9 bags in three different applicaions:

• Handheld
• Wheeled robot (Jackal)
• Tracked robot

Note the rosbags are in compressed format. Use "rosbag decompress" to decompress.

Topics:

• depth topic: /camera/aligned_depth_to_color/image_raw
• color topic: /camera/color/image_raw
• imu topic: /camera/imu

3. Licence

The source code is released under GPLv3 license.