🛢️ DSOL: Direct Sparse Odometry Lite
Reference
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor
https://arxiv.org/abs/2203.08182
Datasets
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.
Build
This is a ros package, just put in a catkin workspace and build the workspace.
Run
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
Dependencies and Install instructions
See CMakeLists.txt for dependencies. You may also check our Github Action build file for instructions on how to build DSOL in Ubuntu 20.04 with ROS Noetic.
Disclaimer
For reproducing the results in the paper, place use the iros22 branch.
This is the open-source version, advanced features are not included.
Related
See here for a fast lidar odometry