LineSLAM

Line feature based RGBD SLAM, supporting fusion with point features, developed based on RGBDSLAM v2.

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Dependencies

1. ROS hydro
2. OpenCV 2.4.X
3. OpenBLAS (build from source)
4. Armadillo
5. Eigen3 (download from official website and replace the default one if on Ubuntu)
6. LSD, EDLines, levmar : included in this repo.

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Installation

Refer to http://felixendres.github.io/rgbdslam_v2/

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Usage

roslaunch lineslam lineslam.launch

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Reference

Yan Lu and Dezhen Song, "Robust RGB-D Odometry Using Point and Line Features" , IEEE International Conference on Computer Vision (ICCV), Santiago, Chile, Dec. 13-16, 2015