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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Extending ORBSLAM3 to RGBD+Inertial #80

Closed ankuPRK closed 4 years ago

ankuPRK commented 4 years ago

Hey guys I have some data where I have RGBD data along with IMU measurements.

I was wondering if any feasibility issue will arise if I try to merge TUM RGDB system with EUROC stereo-imu such that the depth representation of TUM replaces Stereo of EUROC. If I remember correctly in ORBSLAM2 both Stereo and RGBD modalities were internally calling same tracking and mapping utilities.

jj-gomez commented 4 years ago

We have not tested RGBD+inertial as we have not found any dataset that combines both of them. However, as you have already noted, ORB-SALM2 shares the same pipeline for stereo and RGBD sensors. We keep the same pipeline for ORB-SLAM3 so I think it would be feasible to try a RGBD+inertial setup with ORB-SLAM3. We would be happy if you share with us any results you get in this direction!

ankuPRK commented 4 years ago

Thanks! Sure if I get something meaningful will definitely share! :)

oym1994 commented 3 years ago

We are also working on RGBD-Inertial slam and recommend this OpenLORIS dataset . It comprises all kinds of sensor data needed by ORM_SLAM3, including mono RGBD-IMU, Stereo fisheye-IMU.

macTracyHuang commented 2 years ago

We are also working on RGBD-Inertial slam and recommend this OpenLORIS dataset . It comprises all kinds of sensor data needed by ORM_SLAM3, including mono RGBD-IMU, Stereo fisheye-IMU.

hi, could you plz share how you implement rgbd-imu with ros? thx

wqx854987945 commented 2 years ago

We are also working on RGBD-Inertial slam and recommend this OpenLORIS dataset . It comprises all kinds of sensor data needed by ORM_SLAM3, including mono RGBD-IMU, Stereo fisheye-IMU.

Hi,in RGBD-Inertial slam ,what parameters do you set in imu.yaml(IMU.NoiseGyro/IMU.NoiseAcc/IMU.GyroWalk/IMU.AccWalk)? Could you plz show your ".yaml" about OpenLORIS dataset in ORBSLAM3?

liyuting-123 commented 2 years ago

We are also working on RGBD-Inertial slam and recommend this OpenLORIS dataset . It comprises all kinds of sensor data needed by ORM_SLAM3, including mono RGBD-IMU, Stereo fisheye-IMU.

hi, could you plz share how you implement rgbd-imu with ros? thx