rginjapan / semantic_slam

ORB-SLAM2 combined with yolov3 object detection, considering the relationship among objects

semantic_slam ORB-SLAM2

RGB-D Example

TUM Dataset

/home/zss/Documents/myslam/desk_yolo.txt /home/zss/Documents/myslam/TUM1.yaml /home/zss/Documents/data/rgbd_dataset_freiburg1_desk /home/zss/Documents/data/rgbd_dataset_freiburg1_desk/associate.txt

绝对误差：

实际场景稀疏语义地图表达，useful数据关联：