frobelbest/gslam

Source Code for the 3dv2017 paper GSLAM: Initialization-robust Monocular Visual SLAM via Global Structure-from-Motion

GSLAM: Initialization-robust Monocular Visual SLAM via Global Structure-from-Motion

For more information see https://frobelbest.github.io/gslam

1. Related Papers

• GSLAM: Initialization-robust Monocular Visual SLAM via Global Structure-from-Motion, C. Tang, O. Wang, P. Tan, In 3DV,2017
• Global Structure-from-Motion by Similarity Averaging, Z. Cui, P. Tan, In ICCV, 2015

Get two sample sequences from Google Drive .

2. Installation

git clone https://github.com/frobelbest/GSLAM.git

2.1 Required Dependencies

Theia Vision Library (required for global rotation averaging).

Install from http://www.theia-sfm.org

Ceres Solver (required for local and global bundle adjustment).

Install from http://ceres-solver.org

CLP (required for global scale and translation averaging).

Install from https://projects.coin-or.org/Clp

OpenCV (required for image processing).

Install from https://opencv.org

Pangolin (required for visualization).

Install from https://github.com/stevenlovegrove/Pangolin

2.3 Build

Currently, only the xcode project is supplied. You can write your own code to compile on other platforms or wait for future update.

3 Usage

Run on a dataset from Google Drive using GSLAM [sequence_path] [vocabulary_path], for example GSLAM ./robot ./Vocabulary/ORBvoc.txt The ORB vocabulary for loop detection can be downloaded at https://github.com/raulmur/ORB_SLAM2/tree/master/Vocabulary

3.1 Dataset Format.

Under each sequnce folder you will see the following files:

• shake.mov The input video.
• framestamp.txt The timestamps for each frame.
• gyro.txt The gyroscope readings recorded along with the video.
• config.yaml The config settings.

Notes

Real-time KLT with AVX Acceleration

Except the method proposed in the paper, this project also featured in a highly optimized KLT Tracker that can track more than 4000 points on a 1080p video in real-time.

ToDo

The main bottleneck for this project is the feature tracking, which can be further improved by the paper "Better feature tracking through subspace constraints".

5 License

GSLAM was developed at the Simon Fraser University and Adobe. The open-source version is licensed under the GNU General Public License Version 3 (GPLv3). For commercial purposes, please contact [email protected] or [email protected]

gslam's Issues

malloc: *** set a breakpoint in malloc_error_break to debug

GSLAM(49030,0x1005b6dc0) malloc: *** error for object 0x3fefef5584e87731: pointer being freed was not allocated
GSLAM(49030,0x1005b6dc0) malloc: *** set a breakpoint in malloc_error_break to debug

variables may not be available?

GSLAM was compiled with optimization - stepping may behave oddly; variables may not be available.

CMakeLists.txt

Hello,
i want to try this project but i don't have any mac OS. Have you implemented a CMakeLists.txt, which i could use to build this project on Linux?

Thank you very much!

Can't find visualization in code

I'm adapting GSLAM to work on Linux. It now compiles and starts. I noticed there's no code for open a window for visualization. I am wrong? Can you guide me on this? I believe visualization will happen real time, like orb-slam2.

Thank you

Are there comment on GlobalRotationEstimation?

Where is GlobalRotationRegistration implemented?

Is this method a Matlab function? Or is it open sourced with this package together?

In fact, "engine.h" is found at Matlab's installation directory, but in README, you did not mentioned dependencies about Matlab.

I use xcode to compile your code, but there are so many complie errors..

Can you list the compile process in detailed.

For the function "rotateAndNormalizePoint", what is its function?

Hello, for the function "rotateAndNormalizePoint", what is its function. I guess it is utilized to process rolling shutter camera.

Trying to compile on Ubuntu16.04,could not find Accelerate.h

Hello! I'm trying to compile your project on Ubuntu 16.04, I have compiled the dependencies, but when trying to compile the library, I could not find the Accelerate/Accelerate.h, could you give me a hint which library it belongs to or where it comes from?