kunlqt / plvs

PLVS is a real-time system which leverages sparse SLAM, volumetric mapping and 3D unsupervised incremental segmentation.

PLVS II

Author: Luigi Freda

PLVS is a real-time system that leverages sparse SLAM, volumetric mapping, and 3D unsupervised incremental segmentation. PLVS stands for Points, Lines, Volumetric mapping, and Segmentation.

PLVS is available in two different versions.

• PLVS I: hosted in the branch plvs1. It is based on ORB-SLAM2, and supports mono, stereo, and RGB-D cameras.
• PLVS II: hosted in the master branch. It is based on ORB-SLAM3, and also supports camera systems provided with IMUs.

Here you can find a list of the new features provided by PLVS. You can find further information and videos on this page and in the following document:

PLVS: A SLAM System with Points, Lines, Volumetric Mapping, and 3D Incremental Segmentation 
Luigi Freda

Note: PLVS is an active project. This README is under construction and will be updated soon with further information and details.

Quick start

• Install basic dependencies:
  $ ./install_dependencies.sh
• Install opencv in a local folder:
  $ ./install_local_opencv.sh
  (if you want, skip this step and set the variable OpenCV_DIR in config.sh with your local OpenCV path)
• Build the framework:
  $ ./build.sh

Running the examples

Once everything is built, you can enter in the Scripts folder and test the different examples. For instance you can configure and run:

• $ ./run_tum_rgbd.sh for TUM RGB-D datasets
• $ ./run_kitti_stereo.sh for KITTI datasets
• $ ./run_euroc_stereo_inertial.sh for Euroc datasets, stereo + inertial
• $ ./run_euroc_stereo.sh for Euroc datasets, only stereo
• $ ./run_tum_vi_stereo.sh for TUM VI datasets, only stereo
• $ ./run_tum_vi_stereo_inertial.sh for TUM VI datasets, stereo + inertial

In each of the above scripts, you have to configure the DATASET_BASE_FOLDER, the specific DATASET of interest, and the used YAML configuration file. In particular, each configuration file shows different sections with commented options.

Note: PLVS is an active project. This README is under construction and will be updated soon with further information and details.

Credits

• The PLVS I and PLVS II frameworks are based on ORB-SLAM2 and ORB-SLAM3 respectively. Many thanks to their Authors for their great work and contributions to the open-source community.