Active-ORB-SLAM2

Authors: ORB SLAM 2 Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2)

Authors: Active ORB SLAM 2 Xinke Deng, Zixu Zhang, Avishai Sintov, Jing Huang, and Timothy Bretl

#1. Prerequisites We have tested the library in 14.04 with ROS indigo. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.

C++11 or C++0x Compiler

We use the new thread and chrono functionalities of C++11.

Pangolin

We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

OpenCV

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 2.4.3. Tested with OpenCV 2.4.11 and OpenCV 3.2.

Eigen3

Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

DBoW2 and g2o (Included in Thirdparty folder)

We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.

ROS

ROS indigo is required ros.

OctoMap

OctoMap is required octomap

OMPL is required

OMPL is required OMPL. It is works on OMPL 1.7.2.

#2. Building Active-ORB-SLAM2 library

Clone the repository:

git clone https://github.com/XinkeAE/Actuve-ORB-SLAM2.git

cd Active-ORB-SLAM2
chmod +x build.sh
./build.sh

This will create libORB_SLAM2.so at lib folder and the executables mono_tum, mono_kitti, rgbd_tum, stereo_kitti, mono_euroc and stereo_euroc in Examples folder.

#3. Building ROS

chmod +x build_ros.sh
./build_ros.sh

#4. Specify the goal pose in planning.cc and system.cc changing line 265 - 268 in system.cc

#5. Run ros driver by running the script

./kinect.sh

Citation

@INPROCEEDINGS{Deng2018, 
author={X. {Deng} and Z. {Zhang} and A. {Sintov} and J. {Huang} and T. {Bretl}}, 
booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)}, 
title={Feature-constrained Active Visual SLAM for Mobile Robot Navigation}, 
year={2018}, 
volume={}, 
number={}, 
pages={7233-7238}, 
doi={10.1109/ICRA.2018.8460721}, 
ISSN={2577-087X}, 
month={May},}