orbslam2_catkin

Contains repository to build orb_slam2 with catkin_make

Dependencies

• Pangolin (https://github.com/stevenlovegrove/Pangolin)
• OpenCV

How to

• mkdir -p ~/catkin_ws/src
• cd catkin_ws/src
• git clone https://github.com/ashnarayan13/orbslam2_catkin.git
• cd ..
• catkin_make
• source ./devel/setup.bash

To run orbslam2

• The ORBvoc.txt has to be extracted from the tar file. tar -xzf ORBvoc.txt.tar.gz to unzip the vocabulary.

• rosrun orb_slam orb_slam /Vocabulary/ORBvoc.txt /path/to/camera_parameters.yaml true

Related Publications:

[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. Submitted to IEEE Transactions on Robotics. arXiv preprint: http://arxiv.org/abs/1502.00956

ORB-SLAM is released under a GPLv3 license. Please note that we provide along ORB-SLAM a modified version of g2o and DBoW2 which are both BSD.

For a closed-source version of ORB-SLAM for commercial purposes, please contact the authors.

If you use ORB-SLAM in an academic work, please cite:

@article{murSubTro2015, title={{ORB-SLAM}: a Versatile and Accurate Monocular {SLAM} System}, author={Mur-Artal, Ra'ul, Montiel, J. M. M. and Tard'os, Juan D.}, journal={Submitted to IEEE Transaction on Robotics. arXiv preprint arXiv:1502.00956}, year={2015} }