flshyi / PLSLAM

Combine PL-SLAM & stVO-PL

Combine PL-SLAM & stVO-PL

fix g2o bugs

bash make.sh after install g20 mrpt...

you need to modify plslam_dataset.cpp & config file to run dataset

Notice that this repository is only an open-source version of PL-SLAM released with the aim of being useful for the community, however, it is far from being optimized and we are not including some features of PL-SLAM.

PL-SLAM

This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.

Authors: Ruben Gomez-Ojeda, David Zuñiga-Noël, Francisco Angel Moreno, Davide Scaramuzza, and Javier Gonzalez-Jimenez

Related publication: PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments

If you use PL-SLAM in your research work, please cite:

@article{gomez2017pl,
  title   = {{PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments}},
  author  = {Gomez-Ojeda, Ruben and Zuñiga-Noël, David and Moreno, Francisco-Angel and Scaramuzza, Davide and Gonzalez-Jimenez, Javier},
  journal = {arXiv preprint arXiv:1705.09479},
  year    = {2017}

}

The pdf file can be found at https://arxiv.org/abs/1705.09479.