Orbeez-SLAM
The paper is available in https://arxiv.org/abs/2209.13274
More details can be found in my master thesis (Main content is written in English).
Orbeez-SLAM 🔫 is implemented with two open source projects
- ORB-SLAM2 (GPLv3 license)
- instant-ngp (Nvidia Source Code License-NC)
License
This repo is GPLv3 Licensed (inherit ORB-SLAM2). It reimplements parts of ORB-SLAM2. Our changes to instant-NGP (Nvidia License) are released in our fork of instant-ngp and added here as a thirdparty dependency using git submodules. Several evaluation files in scripts
are BSD License.
How to build
Please refer to BUILD.md
RUN on TUM
Please refer to TUM.md
RUN on Replica
Please refer to Replica.md
RUN on ScanNet
Please refer to ScanNet.md
RUN on a custom dataset
Please refer to Custom.md
Evaluation
Please refer to Eval.md
Acknowledgments
This work has been possible thanks to the open-source code from ORB-SLAM2 and instant-ngp, as well as the open-source datasets Replica and TUM-dataset.