YznMur / DDR-SLAM

DDR-SLAM: Official implementation of DDRNet integration into ORB-SLAM2

DDR-SLAM

DDR-SLAM is a Real-time visual SLAM system for Tracking, Mapping and better Localization in Dynamic Scenes.

Getting Started

• Clone this repo:

git clone https://github.com/YznMur/DDRSLAM.git

• In DDR-SLAM-Docker, build DDRNetTRT:

  cd ddr_orb2/ddrnet_trt/
  mkdir buildExec
  cd buildExec
  cmake ..
  make -j8
  ./ddrnet -s 

• DDRNet_trt weights : https://drive.google.com/drive/folders/1Dijxp_i5nXrrv0F1GHQthtplL9SmZq04?usp=sharing
• Run in terminal:

export LD_LIBRARY_PATH=/root/ddr_orb2/ddrnet_trt/:$LD_LIBRARY_PATH

• Go back to ddr_orb2 directory and build DDR-SLAM:

./build.sh

Examples on:

• KITTI Dataset:

./scripts/mono_kitti.sh
./scripts/stereo_kitti.sh

• Cityscapes Dataset:

./scripts/mono_cs.sh
./scripts/stereo_cs.sh

Acknowledgements

This code is based on a forked version of ORB-SLAM2.