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shichaoy / pop_up_slam

Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
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Implementation with point SLAM #18

Open RoudyT opened 4 years ago

RoudyT commented 4 years ago

Hello! Can you please elaborate more on the steps needed to implement pop up SLAM with a point SLAM system (ORB-SLAM2 or LSD).

I read in your paper that you proposed to integrate the output of LSD SLAM as odometry constarints to planar SLAM. Can you please elaborate more on how this can be done practically and what needs to be adjusted in your package.

Also, can your system be implemeted with a stereo-based point SLAM system?

Your help is highly appreciated.

shichaoy commented 4 years ago

@RoudyT hi you can simply change this line to add odometry constraint, right now, a constant velocity odometry model is used. https://github.com/shichaoy/pop_up_slam/blob/master/pop_planar_slam/src/main_3d.cpp#L382

but this package is just graph optimization with plane and camera representation, it doesn't detect and track points. If you want a joint optimization of points/camera/planes/objects, you may need something like this https://github.com/shichaoy/cube_slam/blob/master/orb_object_slam/src/Optimizer.cc#L826 It's tightly integrated into orbslam2.