DORB_SLAM

Distributed ORB SLAM

#1 Prerequisites We have tested the library in and 14.04 + ROS Indigo. Only Monocular camera dataset is supported for now.

Pangolin

We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

BLAS and LAPACK

BLAS and LAPACK libraries are requiered by g2o (see below). On ubuntu:

sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev

DBoW2 and g2o (Included in Thirdparty folder under src/dorbslam)

We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.

#2 Build copy src/dorbslam and src/dataset_reader to your ros working path.Build with the command

catkin_make

#3 Running Node ##3.1 Running Non-Distributed node Execute following command to Run orbslam node,

    rosrun dorbslam dorbslam_node PATH_TO_VOCABULARY PATH PATH_TO_SETTINGS_FILE

Start data stream by the data set reader (or camera node)

    rosrun dataset_reader kitti_reader_node PATH_TO_SEQUENCE 
    rosrun dataset_reader tum_reader_node PATH_TO_SEQUENCE 

##3.2 Running Distribution type 1 (ORB extracter is distrbuted)

• Run by Launch file Execute following command

     roslaunch dorbslam dorbslam_div1.launch vocabulary:="FULL_PATH_TO_VOCAbulary_FILE" setting:="FULL_PATH_TO_SETTING_FILE"
  

  Start data stream by the data set reader (or camera node)

      rosrun dataset_reader kitti_reader_node PATH_TO_SEQUENCE 
      rosrun dataset_reader tum_reader_node PATH_TO_SEQUENCE 
  

• Run Each nodes Execute following command to Run core node,

    rosrun dorbslam dorbslam_node_div1 PATH_TO_VOCABULARY PATH PATH_TO_SETTINGS_FILE
  

  Execute following command to Run Orb extractor node.

    rosrun dorbslam orb_extracter_node PATH_TO_VOCABULARY PATH PATH_TO_SETTINGS_FILE
  

  Start data stream by the data set reader (or camera node)

      rosrun dataset_reader kitti_reader_node PATH_TO_SEQUENCE 
      rosrun dataset_reader tum_reader_node PATH_TO_SEQUENCE 
  

##3.3 Running Distribution type 2 (bundle adjustment is distrbuted)

• Run by Launch file Execute following command

      roslaunch dorbslam dorbslam_div2.launch vocabulary:="FULL_PATH_TO_VOCAbulary_FILE" setting:="FULL_PATH_TO_SETTING_FILE"
  

  Start data stream by the data set reader

      rosrun dataset_reader kitti_reader_node PATH_TO_SEQUENCE 
      rosrun dataset_reader tum_reader_node PATH_TO_SEQUENCE 
  

• Run Each nodes Execute following command to Run core node,

      rosrun dorbslam dorbslam_node_div2 PATH_TO_VOCABULARY PATH PATH_TO_SETTINGS_FILE
  

  Execute following command to bunle adjustment node.

      rosrun dorbslam bundle_adjustment_node PATH_TO_VOCABULARY PATH PATH_TO_SETTINGS_FILE
  

  Start data stream by the data set reader (or camera node)

      rosrun dataset_reader kitti_reader_node PATH_TO_SEQUENCE 
      rosrun dataset_reader tum_reader_node PATH_TO_SEQUENCE 
  

##3.4 Running Distribution type 3 node (ORB extractor and local bundle adjustment is distrbuted)

• Run by Launch file Execute following command

      roslaunch dorbslam dorbslam_div3.launch vocabulary:="FULL_PATH_TO_VOCAbulary_FILE" setting:="FULL_PATH_TO_SETTING_FILE"
  

  Start data stream by the data set reader (or camera node)

      rosrun dataset_reader kitti_reader_node PATH_TO_SEQUENCE 
      rosrun dataset_reader tum_reader_node PATH_TO_SEQUENCE 
  

• Run Each nodes Execute following command to Run core node,

      rosrun dorbslam dorbslam_node_div3 PATH_TO_VOCABULARY PATH PATH_TO_SETTINGS_FILE
  

  Execute following command to Run Orb extractor node.

      rosrun dorbslam orb_extracter_node PATH_TO_VOCABULARY PATH PATH_TO_SETTINGS_FILE
  

  Execute following command to Run bundle adjustment node.

      rosrun dorbslam bundle_adjustment_node PATH_TO_VOCABULARY PATH PATH_TO_SETTINGS_FILE
  

  Start data stream by the data set reader (or camera node)

      rosrun dataset_reader kitti_reader_node PATH_TO_SEQUENCE 
      rosrun dataset_reader tum_reader_node PATH_TO_SEQUENCE 
  

#4 Disable GUI If you'd like to disable gui, define "__DISABLE_GUI" deffinition flag in the CMakefile.

• For the div1 and non distributed node, add following line to dorbslam/CMakeLists.txt target_compile_definitions(${PROJECT_NAME} PUBLIC__DISABLE_GUI=1)

• For the div2 and div3 change the line in the dorbslam/CMakeLists.txt

    target_compile_definitions(${PROJECT_NAME}_div2 PUBLIC ENABLE_EXTERNAL_LOCALBUNDLE_ADJUSTMENT=1)
  

  into

    target_compile_definitions(${PROJECT_NAME}_div2 PUBLIC ENABLE_EXTERNAL_LOCALBUNDLE_ADJUSTMENT=1 PUBLIC__DISABLE_GUI=1)
  

#5 Enable Performance Mode We provide ros-service to see DORBSLAM performance.

If you'd like to see performance in DORBSLAM,define "ENABLE_PERFORMENCE" deffinition flag in the CMakefile

• For the dataset_reader, add following line to dataset_reader/CMakeLists.txt

    add_definitions(-DENABLE_PERFORM)
  

• For the div1 and div2, div3, add following line to the dorbslam/CMakeLists.txt

    add_definitions(-DENABLE_PERFORM)
  

Acknowledgements

This R&D project is done by Takeshi Ohkawa, Utsunomiya University.

• https://sites.google.com/site/ohkawatakeshi/profile_en
• http://www.is.utsunomiya-u.ac.jp/pearlab/openreroc/en/

This research and development work was supported by MIC/SCOPE #152103014.