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xdspacelab / openvslam

OpenVSLAM: A Versatile Visual SLAM Framework
https://openvslam.readthedocs.io/
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Will it faster than ORB_SLAM2 when doing stereo mapping? #17

Closed IAMGGKK closed 5 years ago

IAMGGKK commented 5 years ago

It looks like ORBSLAM2, but change the form. I want to know if you speed up the process. Thanks！

kensakurada commented 5 years ago

Thank you for your interest in our project. As mentioned in #15, we will upload the preprint version of our OpenVSLAM paper, in which the processing time for the monocular setup is evaluated. Please use it as a reference. In the future, we will also evaluate the processing time for the stereo case.

Or, you can measure mean and median tracking times on your machine using the example programs with benchmarking datasets such as EuRoC MAV dataset. https://github.com/raulmur/ORB_SLAM2/blob/55d0970bb0f0d73dec0b4eddc31c654e6ca58eb7/Examples/Stereo/stereo_euroc.cc#L183 https://github.com/xdspacelab/openvslam/blob/36b3c4728c45f97e20ada6db1fae9e98b0b25369/example/run_euroc_slam.cc#L277 We recommend to measure them several times.