search

Brummi / MonoRec

Official implementation of the paper: MonoRec: Semi-Supervised Dense Reconstruction in Dynamic Environments from a Single Moving Camera (CVPR 2021)
MIT License
587 stars 85 forks source link

Using ORB-SLAM as input for live reconstruction? #49

Closed danielj-genesis closed 1 year ago

danielj-genesis commented 1 year ago

I've seen it suggested on other issues that this pairs well orb-slam. Would it be possible to do dense reconstruction in real time from Monocular ORB-SLAM output? The orb slam trajectory format looks different from the one used in the demo here.

Brummi commented 1 year ago

Hi Danielj,

thanks for your interest in our work! I dont see why it wouldn't be possible.

In my current project, I am using poses computed from ORB-SLAM3 for KITTI Raw, and it works just fine. In ORB-SLAM3, there is a function already implemented to export poses into the KITTI format.

Hope this helps! Best, Felix