ORB_SLAM3

[YJonmo]

ORB_SLAM3

[FrancescoRossiAiko]

about ORB_SLAM3:

• original repo: https://github.com/UZ-SLAMLab/ORB_SLAM3
• python repo github search: https://github.com/search?q=ORB_SLAM3++language%3APython&type=repositories&l=Python

[YJonmo]

Hi again Luigi,

I am planning to marry your repository with the PTZ_SLAM.
I am dealing with stationary lens cameras (rotation and zoom only). The first step that I can think of is to incorporate the PTZ camera model into your repository.

The second step is to use deep learning model feature matching such as LightGlue.

The other steps that I am less sure of are loop closure and relocalizations.
Are there any libraries that you recommend for loop closure and relocalizations?
The g2opy seems to be a bit obsolete. I found gtsam is up to date and has python bindings.

Regards,
Jacob

[luigifreda]

Hi Jacob,
thanks for your feedback.

• The links provided above (concerning ORBSLAM3) are interesting. Thanks to Francesco.
• As for loop closure tools, you may want to check https://pypi.org/project/pyDBoW3/ (and there are other similar wrappers). I am sure you can find other similar tools by yourself.

Please, do cite pyslam if you use it in your work. Let me know how it goes.

Thanks,
Luigi