ORB-SLAM3-RGBL

This repository is a fork from ORB-SLAM3.

In this work, we add the RGB-L (LiDAR) mode to the well-known ORB-SLAM3. This allows to directly integrate LiDAR depth measurements in the visual SLAM. By doing this, we get precision close to Stereo mode with greatly reduced computation times.

Build

We suggest using Docker to run the code!

If you want to build the code locally, please refer to the Dockerfile for installation instructions.

To build the docker image, simply run from main directory:

 sudo ./scripts/docker_build.sh
 

Some examples for Mono camera mode and some of the example datasets have been removed to increase the clarity. These can be copied from the original repository and added to the CMakeLists.txt file.

Following modes can be directly used:

• RGB-L to fuse camera and LiDAR data
• RGB-D to use offline generated depth maps
• Stereo to use stereo images

Data

Exemplary KITTI folder structure (where path in docker_run.sh points to):

KITTI Odometry dataset --> Docker mounting point
└───poses/
│   │   00.txt
│   │   01.txt
│   │   ...txt
│
└───sequences
│   └───00/
|   |       calib.txt
|   |       times.txt
|   |       image_0/
|   |       image_1/
|   |       image_2/
|   |       image_3/
|   |       velodyne/
│   └───01/
|   |       ...
│   └───02/
|   |       ...
└───└───../

Add your path to the KITTI Odometry dataset in the following files: scripts/docker_run.sh and scripts/docker_run_dev.sh. (Replace “/LocalStorage/KITTI_odometry/dataset/” with your local path.)

Run the SLAM

To start the Docker container, run

sudo ./scripts/docker_run.sh

or

sudo ./scripts/docker_run_dev.sh

to run a container with the mounted code instead of the copied code. This allows to change the code or config files from your local machine and directly running or rebuilding within the container. No need to rebuild the Dockerfile. \

Inside the container, change to the ORB SLAM3 directory:

cd ORBSLAM3

To run the different modes with the KITTI Odometry dataset, use the following bash scripts inside the container:

./scripts/kitti_rgbl.sh

./scripts/kitti_rgbd.sh

``` bash

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