awesome SLAM and robot

持续更新ing

关于最新VSLAM进展、语义VSLAM和动态场景下的 VSLAM

https://github.com/1989Ryan/Semantic_SLAM

https://github.com/leggedrobotics/darknet_ros

https://github.com/ros-industrial/industrial_training

https://github.com/yehengchen/Object-Detection-and-Tracking

kitti2rosbag

git clone https://github.com/JotellyBarros/image2rosbag_KITTIodometry

cd image2rosbag_KITTIodometry/

python img2bag_kitti_StereoBag.py /home/mate/Downloads/00/ ~/Downloads/00.bag ~/Downloads/00/times.txt

动态场景下的VSLAM

1.对比ORB_SLAM2与YOLO-DynaSLAM二者在动态场景下的性能：

说明：编译ORB_SLAM2和YOLO-DynaSLAM系统时，对依赖进行了适当调整，若是碰到类似问题，可参考我的fork版本ORB_SLAM2、YOLO-DynaSLAM。

使用TUM_RGB-D Dynamic Objects的fr3_walking_xyz数据集进行了实验，并使用TUM useful tools进行了评估：

ORB_SLAM2的结果如下：

python tools/evaluate_ate.py results/CameraTrajectory_fr3_walking_xyz.txt ~/Downloads/datasets/TUM_RGBD/rgbd_dataset_freiburg3_walking_xyz/groundtruth.txt --plot ORB_SLAM2-fr3_walking_xyz.png
0.730144

python tools/evaluate_ate.py results/KeyFrameTrajectory_fr3_walking_xyz.txt ~/Downloads/datasets/TUM_RGBD/rgbd_dataset_freiburg3_walking_xyz/groundtruth.txt --plot ORB_SLAM2-Keyframe-fr3_walking_xyz.png
0.654843

YOLO-DynaSLAM的结果如下：

python tools/evaluate_ate.py results/CameraTrajectory_fr3_walking_xyz.txt ~/Downloads/datasets/TUM_RGBD/rgbd_dataset_freiburg3_walking_xyz/groundtruth.txt --plot YOLO-DynaSLAM-fr3_walking_xyz.png
0.072051

python tools/evaluate_ate.py results/KeyFrameTrajectory_fr3_walking_xyz.txt ~/Downloads/datasets/TUM_RGBD/rgbd_dataset_freiburg3_walking_xyz/groundtruth.txt --plot YOLO-DynaSLAM-Keyframe-fr3_walking_xyz.png
0.093899

结论：

在动态场景中（以本数据序列为例），YOLO-DynaSLAM的性能优于ORB_SLAM2。

# for melodic
sudo apt-get install ros-melodic-geodesy ros-melodic-pcl-ros ros-melodic-nmea-msgs ros-melodic-libg2o
cd catkin_ws/src
git clone https://github.com/koide3/ndt_omp.git -b melodic
git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive
git clone https://github.com/koide3/hdl_graph_slam

cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release

https://github.com/JimGreenJaguar/hdl_people_tracking/tree/noetic