FLVIS

Feedback Loop Based Visual Inertial SLAM

1-Demo Video

TBD

2-Relevent Publication:

TBD

3-Support Hardware/Dataset:

Intel RealSense D435i Camera
EuRoC MAV Dataset

4-Build The Project

We have tested in the following environment:
Ubuntu 16.04 + ROS Kinetic
Ubuntu 18.04 + ROS melodic
4.1 Clone the repository to the catkin work space eg. /catkin_ws/src

git clone https://github.com/Ttoto/FLVIS.git

4.2 Install 3rd Part library

sudo apt-get install libsuitesparse-dev 
sudo apt-get install ros-melodic-octomap

cd catkin_ws/src/FLVIS/3rdPartLib/
./install3rdPartLib.sh

4.3 Compile

cd ~/catkin_ws
catkin_make

5-Verification

5.1 D435i Camera 5.2 EuRoC MAV Dataset Download the dataset(say MH_05_difficult) into the bag folder:

roscd flvis/bag/
wget http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_05_difficult/MH_05_difficult.bag

Edit the corresponding bag name in flvis_euroc_mav.launch file:

<node pkg="rosbag" type="play" name="rosbag" args="$(find flvis)/bag/MH_05_difficult.bag"/>

run the following launch files:

roslaunch flvis rviz.launch
roslaunch flvis flvis_euroc_mav.launch

Maintainer:

Shengyang Chen(Dept.ME,PolyU): [email protected]
Yajing Zou(Dept.LSGI,PolyU):[email protected]