robot_visual_localization

ROS packages for robot camera-based localization

Clone this repository with its submodules:

git clone --recurse-submodules -j8 https://github.com/olayasturias/robot_visual_localization.git

If you forgot to clone the submodules, you can download them afterwards as

git submodule update --init --recursive

DSO

Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016 A Photometrically Calibrated Benchmark For Monocular Visual Odometry, J. Engel, V. Usenko, D. Cremers, In arXiv:1607.02555, 2016

ORB-SLAM3

Campos C, Elvira R, Rodríguez JJ, Montiel JM, Tardós JD. Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam. IEEE Transactions on Robotics. 2021 May 25;37(6):1874-90.

TartanVO

Wang W, Hu Y, Scherer S. Tartanvo: A generalizable learning-based vo. InConference on Robot Learning 2021 Oct 4 (pp. 1761-1772). PMLR.

From your ros workspace directory:

mkdir -p src/robot_visual_localization/tartan_vo_ros/models && wget https://cmu.box.com/shared/static/t1a5u4x6dxohl89104dyrsiz42mvq2sz.pkl -O src/robot_visual_localization/tartan_vo_ros/models/1914.pkl