ericlai0323 / vins-rgbd-fast-noetic

VINS-RGBD-FAST is a SLAM system based on VINS-RGBD. We do some refinements to accelerate the system's performance in resource-constrained embedded platforms, like HUAWEI Atlas 200DK, Raspberry Pi.

VINS-RGBD-FAST

VINS-RGBD-FAST is a SLAM system based on VINS-RGBD. We do some refinements to accelerate the system's performance in resource-constrained embedded paltform.

Refinements

• grid-based feature detection
• extract FAST feature instead of Harris feature
• added stationary initialization
• added IMU-aided feature tracking
• added extracted-feature area's quality judgement
• solved feature clusttering problem result frome FAST feature
• use "sensor_msg::CompressedImage" as image topic type

Related Paper:

@ARTICLE{9830851,  
  author={Liu, Jianheng and Li, Xuanfu and Liu, Yueqian and Chen, Haoyao},  
  journal={IEEE Robotics and Automation Letters},  
  title={RGB-D Inertial Odometry for a Resource-Restricted Robot in Dynamic Environments},   
  year={2022},  
  volume={7},  
  number={4},  
  pages={9573-9580},  
  doi={10.1109/LRA.2022.3191193}}

RGBD-Inertial Trajectory Estimation and Mapping for Small Ground Rescue Robot

Based one open source SLAM framework VINS-Mono.

The approach contains

• Depth-integrated visual-inertial initialization process.
• Visual-inertial odometry by utilizing depth information while avoiding the limitation is working for 3D pose estimation.
• Noise elimination map which is suitable for path planning and navigation.

However, the proposed approach can also be applied to other application like handheld and wheeled robot.

1. Prerequisites

1.1. Ubuntu 20.04

1.2. ROS version Noetic fully installation

1.3. Ceres Solver Follow Ceres Installation

git clone https://github.com/ceres-solver/ceres-solver.git
git checkout facb199 #1.14.0

1.4. Sophus

  git clone http://github.com/strasdat/Sophus.git
  git checkout a621ff

2. Datasets

Recording by RealSense D435i. Contain 9 bags in three different applicaions:

• Handheld
• Wheeled robot (Jackal)
• Tracked robot

Note the rosbags are in compressed format. Use "rosbag decompress" to decompress.

We use the Nodelet of compressed image:

Topics:

• depth topic: /camera/aligned_depth_to_color/image_raw
• color topic: /camera/color/image_raw/compressed
• imu topic: /camera/imu

3. Licence

The source code is released under GPLv3 license.