multi_orbslam3 is a repository that integrates the collaborative method of CCM-SLAM into the ORB-SLAM3 framework.
ORB-SLAM3 is a versatile and accurate SLAM solution for monocular, stereo and RGB-D cameras. It can compute the camera trajectory and a sparse 3D reconstruction in real-time on standard CPUs.
CCM-SLAM is a distributed SLAM system that enables multiple agents to collaboratively explore and map an unknown environment in real-time.
Multi ORB-SLAM3 combines the advantages of both systems and allows multiple cameras to perform collaborative SLAM using the ORB-SLAM3 framework.
The installation of multi_orbslam3 requires the same libraries as ORB-SLAM3. Please follow the instructions on this page to install them.
Note: This repository has been tested on Ubuntu 18.04 and ROS Melodic. Other versions may not be compatible.
To build multi_orbslam3, you need to clone this repository and run the following commands:
mkdir -p ~catkin_ws/src
cd ~catkin_ws/src
git clone https://github.com/yutongwangBIT/multi_orbslam3.git
cd ..
catkin build
Note: We use catkin build instead of catkin_make.
To run Multi ORB-SLAM3, you need to launch one server node and multiple client nodes. Each client node corresponds to one camera that performs local SLAM and sends its data to the server node. The server node performs global optimization and fusion of the data from different clients.
You can use the provided scripts to launch the nodes:
./launch_server.sh
./launch_client_1.sh
./launch_client_2.sh
...You can also modify the scripts to change the parameters or input sources of each node.
We welcome any contributions or suggestions for improving Multi ORB-SLAM3. You can open an issue or submit a pull request on GitHub.
Multi ORB-SLAM3 is released under the GNU General Public License v3.0. Please see LICENSE for more details.