ORB_SLAM3_Grid_Mapping

A modified version of ORB-SLAM3 which can create 2D grid map online or offline for AGV navigation.

Instruction

Offline

1. ./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /PATH_TO_KITTI/KITTI/00
2. pip install transforms3d
3. python pointCloudToGridMap2D.py

Online

Dataset

1. In the terminal, run:

roscore.

2. Open a new terminal, run:

rosrun ORB_SLAM3 Monosub 5 3 29 -25 48 -12 0.55 0.50 1 5.

3. In another terminal, run:

rosrun ORB_SLAM3 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /PATH_TO_KITTI/KITTI/00 0.

Rosbag

1. In the terminal, run:

roscore.

2. Open a new terminal, run:

rosrun ORB_SLAM3 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/mono.yaml -1 /camera/image_raw.

3. In another terminal, run:

rosrun ORB_SLAM3 Monosub 30 5 2 -2 2 -2 0.55 0.50 1 5.

4. One more terminal, run:

rosbag play /PATH_TO_ROSBAG/bags/xxx.bag -r 0.5.

Your Own Camera

1. In the terminal, run:

roscore.

2. Open a new terminal, run:

rosrun ORB_SLAM3 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/mono.yaml -1 /usb_cam/image_raw.

3. In another terminal, run:

rosrun ORB_SLAM3 Monosub 30 5 2 -2 2 -2 0.55 0.50 1 5.

4. One more terminal, run:

roslaunch usb_cam-test.launch.