PlanarSLAM
This repo proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the surrounding. More details can be found in our papers (RGB-D and Monocular).
Authors: Yanyan Li, Raza Yunus, Nikolas Brasch, Nassir Navab and Federico Tombari
updated on 11.12.2021
We updated the planar meshing section by making use of a more efficient triangulation method, rather than the greedy algorithm from PCL. If the PCL window shows nothing, maybe you could click "R" after selecting the window.
ps: the reconstruction method is still very naive, we will keep moving.
License
PlanarSLAM is released under a GPLv3 license.
For commercial purposes, please contact the authors: yanyan.li (at) tum.de. If you use PlanarSLAM in an academic work, please cite:
inproceedings{Li2021PlanarSLAM,
author = {Li, Yanyan and Yunus, Raza and Brasch, Nikolas and Navab, Nassir and Tombari, Federico},
title = {RGB-D SLAM with Structural Regularities},
year = {2021},
booktitle = {2021 IEEE international conference on Robotics and automation (ICRA)},
}
1. Prerequisites
We have tested the library in ubuntu 16.04 and ubuntu 18.04, but it should be easy to compile on other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.
C++11 or C++0x Compiler
We use the new thread and chrono functionalities of C++11.
Pangolin
We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.
OpenCV and OpenCV_Contrib
We use OpenCV and corresponding OpenCV_Contrib to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Tested with OpenCV 3.4.1
Eigen3
Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.
DBoW2 and g2o (Included in Thirdparty folder)
We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.
PCL
We use PCL to reconstruct and visualize mesh. Download and install instructions can be found at: https://github.com/ros-perception/perception_pcl. Tested with PCL 1.7.0 and 1.9.0.
-
compile and install
cd pcl mkdir release cd release cmake -DCMAKE_INSTALL_PREFIX=/usr/local \ -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr/local -DPCL_DIR=/usr/local/share/pcl .. make -j12 sudo make install
2. Test the system
Structural Public Scenes
ICL NUIM, Structural TUM RGB-D, All types of Corridors
Test the system locally
-
Download 'freiburg3_structure_texture_far' and associate RGB-D pairs based on associate.py provided by the dataset.
python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.txt -
Compile the system
./build.sh
3. Run the system
./Examples/RGB-D/Planar_SLAM Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml PATH_TO_SEQUENCE_FOLDER .PATH_TO_SEQUENCE_FOLDER/ASSOCIATIONS_FILE
similar command for testing ICL-NUIM sequences
./Examples/RGB-D/Planar_SLAM Vocabulary/ORBvoc.txt Examples/RGB-D/ICL.yaml PATH_TO_SEQUENCE_FOLDER PATH_TO_SEQUENCE_FOLDER/ASSOCIATIONS_FILE
Citation
inproceedings{Li2021PlanarSLAM,
author = {Li, Yanyan and Yunus, Raza and Brasch, Nikolas and Navab, Nassir and Tombari, Federico},
title = {RGB-D SLAM with Structural Regularities},
year = {2021},
booktitle = {2021 IEEE international conference on Robotics and automation (ICRA)},
}
inproceedings{Li2020SSLAM,
author = {Li, Yanyan and Brasch, Nikolas and Wang, Yida and Navab, Nassir and Tombari, Federico},
title = {Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments},
year = {2020},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
}
Acknowledgement
ORB_SLAM2 and the corresponding community.