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ZJU-Robotics-Lab / GEM

GEM: Online Globally consistent dense elevation mapping for unstructured terrain.
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About Stereo-only version #6

Closed RoboticsZhang closed 2 years ago

RoboticsZhang commented 2 years ago

Thanks for your work! I'm wondering if you will release stereo-only version? It is supported in ETH package, where distance sensors(including stereo camera) and odometry are needed as the input.

MaverickPeter commented 2 years ago

@RoboticsZhang Hi Zhang, we have a stereo-only version and will release it soon. The main reason for the procrastination is that we are trying to make the stereo-only version easier to use as an open-source project since the stereo-only version relies on an extra stereo matching library which requires a complex building and configuring process.

RoboticsZhang commented 2 years ago

Thanks a ton for your contribution! I'm looking forward to it! Can I see it in this month or next month? By the way, I'm trying to implement elevation mapping on a micro platform where lidar is not suitable, so a stereo-only version will help me a lot. At present, I will try the ETH package but its real-time performance may not be satisfying.

MaverickPeter commented 2 years ago

@RoboticsZhang If everything goes fine, you'll see it this month. As for the micro platforms, you mean what kind of platform, like nvidia tx2 or agx? notice that our GEM needs to have GPU supported.