• Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 2018
• Extending Monocular Visual Odometry to Stereo Camera System by Scale Optimization, J. Mo and J. Sattar, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
• A Fast and Robust Place Recognition Approach for Stereo Visual Odometry Using LiDAR Descriptors, J. Mo and J. Sattar, In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

g2o

When comple, remember to enable DBUILD_WITH_MARCH_NATIVE option:

cmake -DBUILD_WITH_MARCH_NATIVE=ON ..

otherwise, you will get double free or corruption error.

DSO

export DSO_PATH=[PATH_TO_DSO] (e.g., export DSO_PATH=~/Workspace/dso)

or set the DSO_PATH in CMakeLists.txt.

cd catkin_ws/src
git clone https://github.com/jiawei-mo/direct_stereo_slam.git
cd ..
catkin_make

• Calibrate stereo cameras with format of cams. T_stereo is the pose of camera0 in camera1 coordinate, rememeber to put a small number in T_stereo[2,2] for numerical stability if images are stereo pre-calibrated. Refer to DSO for more details of intrisic parameters.

• Create a launch file with the format of sample.launch.

roslaunch direct_stereo_slam [YOUR_LAUNCH_FILE]

• Ctrl-C to terminate the program, the final trajectory (dslam.txt) will be written to .ros folder.

• dslam.txt: final trajectory [incoming_id, x, y, z];
• sodso.txt: the trajectory without loop closure, output for comparision.