#A Combination of 3D Bounding BOX and ORB-SLAM2 mainly based on Orb-slam2 and Cube-SLAM, I re-transferred the cubeslam code to orbslam2 so that I can directly use the dataset(mainly livingroom2) for testing instead of using rosbag. And the cuboid evaluation program was developed during the experiment to evaluate the experimental results.
#How to run
- cd orb_cube_slam
- mkdir build
- cd build
- cmake ..
- make
- ./mono_icl path_to_sequence
result seen as follow:
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evaluate tool:
Authors: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2)
13 Jan 2017: OpenCV 3 and Eigen 3.3 are now supported.
22 Dec 2016: Added AR demo (see section 7).
ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. We provide examples to run the SLAM system in the KITTI dataset as stereo or monocular, in the TUM dataset as RGB-D or monocular, and in the EuRoC dataset as stereo or monocular. We also provide a ROS node to process live monocular, stereo or RGB-D streams. The library can be compiled without ROS. ORB-SLAM2 provides a GUI to change between a SLAM Mode and Localization Mode, see section 9 of this document.
[Monocular] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF.
[Stereo and RGB-D] Raúl Mur-Artal and Juan D. Tardós. ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras. IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1255-1262, 2017. PDF.
[DBoW2 Place Recognizer] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF