SPM-SLAM (improved)

Overview

Marker-based SLAM

此项目是SPM-SLAM的改进版本,也是一种基于AprilTag或者Aruco类型标记(marker)的SLAM系统,通过在环境中布置不同ID的marker,即可快速实现高精度的相机定位,经过在实验室环境下的测试,可以达到厘米级精度。具体流程可看图1。绿色部分是对SPM-SLAM的修改部分。
图1

Papers

[SPM-SLAM] Rafael Muñoz-Salinas and Manuel J. Marín-Jimenez and R. Medina-Carnicer, "SPM-SLAM: Simultaneous Localization and Mapping with quared Planar Markers", Pattern Recognition, Vol. 86, pp. 156-171, 2019.

安装需求

OpenCV

Required at least 3.4, Tested with OpenCV3.4.12

AprilTag 3

Download and instructions can be found at: AprilTag3 library.

Eigen3

Required by g2o. Required at least 3.1.1.

Install

mkdir build && cd build
cmake..
make -j4

Usage Example

执行:./spm-slam "video" "file1.yml" -conf "file2.yml" --outlog "cameraPose.txt"
video: 数据集
file1.yml: camera parameters
file2.yml: system parameters cameraPose.txt: output camera poses.

Issues
  • RUN ERROR

    RUN ERROR

    run

    ./spm-slam "/home/why/Documents/ForVSLAM/Marker-based-SLAM/dataset/video1.mp4" "/home/why/Documents/ForVSLAM/Marker-based-SLAM/camera1.yml" -conf "/home/why/Documents/ForVSLAM/Marker-based-SLAM/apriltagConfig.yml" --outlog "/home/why/Documents/ForVSLAM/Marker-based-SLAM/cameraPose.txt"

    error

    double free or corruption (out) Aborted (core dumped)

    opened by why-freedom 0
  • cmake problem

    cmake problem

    Thank you very much for sharing your code. I'm learning your code. There was a problem when I installed it according to your installation steps. The problem occurred during cmake. The specific errors are as follows:

    CMake Error: File /home/ls-wyf/code_ws/src/Marker-based-SLAM/cmake_uninstall.cmake.in does not exist. CMake Error at CMakeLists.txt:104 (CONFIGURE_FILE): CONFIGURE_FILE Problem configuring file

    How can I solve this problem? Looking forward to your reply. Best wishes to you !

    opened by 0YifanWang 0
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