ORB SLAM3

ORB SLAM3 (Visual Inertial SLAM) 시각적 관성 동시위치추적

1. Monocular mode
2. Monocular-Inertial mode
3. Stereo mode
4. Stereo-Inertial mode

[실행하고자 하는 Mode][장소 인식에 필요한 Vocabulary.txt] [Dataset에 맞는 파라미터를 넣어주기 위한 yaml파일][데이터셋 경로] [데이터셋에 맞는 Timestamp.txt]

ORB_SLAM3 폴더에서 Examples 폴더로 경로를 이동 후, (~/Desktop/ORB_SLAM3/Examples$ )

./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml ../DataSets/EuRoC/MH01/ ./Monocular/EuRoC_TimeStamps/MH01.txt

./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml ../DataSets/EuRoC/MH01/ ./Monocular-Inertial/EuRoC_TimeStamps/MH01.txt

./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml ../DataSets/EuRoC/MH01/ ./Stereo/EuRoC_TimeStamps/MH01.txt

./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml ../DataSets/EuRoC/MH01/ ./Stereo-Inertial/EuRoC_TimeStamps/MH01.txt

출처 : https://taeyoung96.github.io/research/ORB_SLAM3/