具有彩色动态八叉树地图的vins

slam部分请看 SLAM framework VINS-Mono. 是基于VINS-RGBD这个工程进行修改的 VINS-RGBD 八叉树地图是根据 dre-slam进行修改的 [dre-slam] (https://github.com/ydsf16/dre_slam)

demo:

总体来说功能： （1）定位是用vins-mono的地位 （2）vins-rgbd 在vins的基础上，对于深度的使用 （3）dre-slam 的具有回环功能的八叉树地图

1. Prerequisites（应该还不太全）

1.1. Ubuntu 16.04 or 18.04.

1.2. ROS version Kinetic or Melodic fully installation

1.3. Ceres Solver Follow Ceres Installation

1.4. Sophus

  git clone http://github.com/strasdat/Sophus.git
  git checkout a621ff

2. Datasets

Recording by RealSense D435i. Contain 9 bags in three different applicaions:

• Handheld
• Wheeled robot (Jackal)
• Tracked robot

Note the rosbags are in compressed format. Use "rosbag decompress" to decompress.

Topics:

• depth topic: /camera/aligned_depth_to_color/image_raw
• color topic: /camera/color/image_raw
• imu topic: /camera/imu

3. Licence

The source code is released under GPLv3 license.