Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor

https://arxiv.org/abs/2203.08182

https://youtu.be/yunBYUACUdg

VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/

KITTI Odom

TartanAir https://theairlab.org/tartanair-dataset/

Sample realsense data at

https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0

https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0

Calib for realsense data is

393.4910888671875 393.4910888671875 318.6263122558594 240.12942504882812 0.095150406

Put this in calib.txt and put it in the same folder of the realsense dataset generated by the python file.

This is a ros package, just put in a catkin workspace and build the workspace.

Open rviz using the config in launch/dsol.rviz

roslaunch dsol dsol_data.launch

See launch files for more details on different datasets.

See config folder for details on configs.

To run multithread and show timing every 5 frames do

roslaunch dsol dsol_data.launch tbb:=1 log:=5

See CMakeLists.txt for dependencies.

For reproducing the results in the paper, place use the iros22 branch.

This is the open-source version, advanced features are not included.