orcilano Goto Github PK

3dline-slam

3DLines-SLAM: A Monocular Vision Semi-Dense 3D Reconstruction Based on ORB-SLAM Abstract-Producing high-quality 3D maps and calculating more accurate camera pose has always been the goal of SLAM technology. The requirements of SLAM technology such as real-time, low computational cost, and low hardware cost are contradictory to the above objectives. For the issues listed above, we propose a novel semi-dense reconstruction algorithm based on the monocular ORB-SLAM system by matching the line segment features extracted from keyframes. Specifically, we build upon ORB-SLAM, the system first provides a set of keyframes and their corresponding camera poses and a series of map points in real-time. Then we use our developed a keyframe re-culling algorithm to culling redundant keyframes. Then an improved line segment extraction method is used to extract line segments in each keyframe. Finally, we use purely geometric constraints to generates accurate 3D scene model by matching 2D line segments from different keyframes. We thoroughly evaluate and in-depth analysis of our approach, the results show our system runs steadily and reliably. Not only the whole system has strong robustness, but also it can quickly generate an accurate 3d model online with low computational costs.

arm-vo

Efficient monocular visual odometry for ground vehicles on ARM processors

aslam_cv2

ba_pnl

Using binocular rig to detect and reconstruct lines and recover camera motion from Bundle Adjustment using Lines plucker coordinates.

birdview_vo

This is my repository for storing Birdview VO

cal_pnp

C++ implementation of semi-automatic camera calibration based on Perspective-n-Point (PnP)

certifiable-calibration

Certifiably globally optimal extrinsic calibration for sensors providing egomotion estimates.

cob_vision_ptam_monoslam

cslibs_image_align

This library contains an AVX optimized implementation of the efficient second order minimization and inverse compositional image alignment methods, including two methods for outlier rejection.

cv2cg

Automatically exported from code.google.com/p/cv2cg

cv2cg-1

Automatically exported from code.google.com/p/cv2cg

cv2cg-2

Automatically exported from code.google.com/p/cv2cg

dense-rgbd-visual-odometry

Matlab implementation of real-time dense visual odometry from RGB-D cameras

direct_rgb-d_slam

a visual SLAM system performed on RGB-D images

dsdtm

DSDTM is a semi-direct RGB-D visual odometry for dynamic environment.

dslam_open

Public code for "Data-Efficient Decentralized Visual SLAM"

dso

Direct Sparse Odometry

dual-quaternion-skinning-sample-codes

Dual Quaternion and Dual Quaternion Skinning tutorial

dual_quaternion_blend_skinning

Basic implementation of dual quaternion blend skinning.

dual_quaternions

dual quaternions libraries

dual_quaternions_ros

Dual Quaternion conversions from/to ROS messages

dualcomplex

Class template for dual complex numbers.

dualcomplexnumbers

C++ Library for Dual Complex Numbers

dualquaternion

out of the box quaternions for c++

dvo

Dense Visual Odometry

easy-ipm-client

An easy, interface friendly cross-platform client to generate bird's view images using inverse perspective mapping methods proposed in paper "Adaptive Inverse Perspective Mapping for Lane Map Generation with SLAM"

ecn_visualodom

Visual odometry from homography labs

edge_alignment

distance transform based image edge alignment

edgedirectvo

Edge-Direct Visual Odometry

edline_parallel

A parallel implementation of EDLine algorithm.