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ddr-slam's Introduction

DDR-SLAM

DDR-SLAM is a Real-time visual SLAM system for Tracking, Mapping and better Localization in Dynamic Scenes.

Getting Started

  • Clone this repo:
git clone https://github.com/YznMur/DDRSLAM.git

  cd ddr_orb2/ddrnet_trt/
  mkdir buildExec
  cd buildExec
  cmake ..
  make -j8
  ./ddrnet -s 

export LD_LIBRARY_PATH=/root/ddr_orb2/ddrnet_trt/:$LD_LIBRARY_PATH
  • Go back to ddr_orb2 directory and build DDR-SLAM:
./build.sh

Examples on:

./scripts/mono_kitti.sh
./scripts/stereo_kitti.sh

./scripts/mono_cs.sh
./scripts/stereo_cs.sh

Acknowledgements

This code is based on a forked version of ORB-SLAM2.

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