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3dline-slam

3DLines-SLAM: A Monocular Vision Semi-Dense 3D Reconstruction Based on ORB-SLAM Abstract-Producing high-quality 3D maps and calculating more accurate camera pose has always been the goal of SLAM technology. The requirements of SLAM technology such as real-time, low computational cost, and low hardware cost are contradictory to the above objectives. For the issues listed above, we propose a novel semi-dense reconstruction algorithm based on the monocular ORB-SLAM system by matching the line segment features extracted from keyframes. Specifically, we build upon ORB-SLAM, the system first provides a set of keyframes and their corresponding camera poses and a series of map points in real-time. Then we use our developed a keyframe re-culling algorithm to culling redundant keyframes. Then an improved line segment extraction method is used to extract line segments in each keyframe. Finally, we use purely geometric constraints to generates accurate 3D scene model by matching 2D line segments from different keyframes. We thoroughly evaluate and in-depth analysis of our approach, the results show our system runs steadily and reliably. Not only the whole system has strong robustness, but also it can quickly generate an accurate 3d model online with low computational costs.

apollo

An open autonomous driving platform

ba

Bundle Adjustment with CMakeLists.txt for ceres solver

calibcamera

基于opencv的摄像机标定 1 创建批量图片路径和列表 2 摄像机标定 3 图像批量去畸变 参考： https://blog.csdn.net/KYJL888/article/details/81043133

camera_usb

Program of image and video Data Acquisition by USB Camera 摄像机录制视频程序使用说明

centernet

cmake_learning

corner_extraction_from_lane_line

车道虚线角点检测

cvsample

dso_3d_cloud

evo_python_matlab

examples

A set of examples around pytorch in Vision, Text, Reinforcement Learning, etc.

gkp2wgs84

经纬高，高斯坐标6度带，3度带数据比较

hungarianalgorithm

ipm_calib

json_cplus_py

kalman

kimera-semantics

Real-Time 3D Semantic Reconstruction from 2D data

map

Map data for China

myslam_ch9_04_rgbd_vo

orb_odm_f_e_rt

orb_slam2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

orb_slam2-master

orb_slam2-reloadmap-imu

orb_slam2_map

orb_slam2_note

orbslam-map-saving-extension

orbslam2_detailed_comments

Detailed comments for ORB-SLAM2 with trouble-shooting, key formula derivation, and diagrammatic drawing

pano2anyview

sfm-visual-slam