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RESLAM: A real-time robust edge-based SLAM system

Please note that RESLAM is a research project and its code is released without any warranty. RESLAM will most likely not be developed any further

In this work, we present RESLAM, a robust edge-based SLAM system for RGBD sensors. Edges are more stable under varying lighting conditions than raw intensity values, which leads to higher accuracy and robustness in scenes, where feature- or photoconsistency-based approaches often fail. The results show that our method performs best in terms of trajectory accuracy for most of the sequences indicating that edges are suitable for a multitude of scenes.

If you use this work, please cite any of the following publications:

License

RESLAM is licensed under the GNU General Public License Version 3 (GPLv3).

If you want to use this software commercially, please contact us.

Building the framework

So far, the framework has only been built and tested on the following system.

Requirements

Sophus is now part of this repository (in thirdparty/Sophus).

Building on Windows and backwards compatibility might be added in the future.

Optional

Set the optional packages in the cmake-gui

Build commands

git clone https://github.com/fabianschenk/RESLAM
cd RESLAM
mkdir build
cd build
cmake . ..
make -j

Known Issues

Segmentation Fault with Ceres/Eigen #2, and #3.

Some people report a problem with Ceres/Eigen. Please, have a look at #2, and #3. Make sure that you have the latest (stable) Eigen version 3.3.X and that it matches the one used by Ceres.

Segmentation fault after repeated tracking losses #3

In some sequences, e.g. freiburg2_large_with_loop, there are depth maps containing mostly invalid values. The problem is that the Kinect and most other RGBD sensors cannot reconstruct surfaces far away from sensor (around > 6 m) due to the small baseline of the sensor. In such cases, RESLAM does not work and might fail with a segmentation fault after repeated tracking losses. This issue will hopefully be fixed in the future.

How to reproduce the results from the paper

If you enable multi-threading, results might differ a bit since float additions are not executed in the same order during each run!

TUM dataset

Download the sequence you want to test and specify the "associate.txt" file in the dataset_tumX.yaml settings file.

To generate an "associate.txt" file, first download the "associate.py" script from TUM RGBD Tools and then run

python associate.py DATASET_XXX/rgb.txt DATASET_XXX/depth.txt > associate.txt

in the folder, where your dataset is.

In the "RESLAM" directory:

build/RESLAM config_files/reslam_settings.yaml config_files/dataset_tum1.yaml

For evaluation of the absolute trajectory error (ATE) and relative pose error (RPE) download the corresponding scripts from TUM RGBD Tools.

Supported Sensors

Support for other sensors such as Orbbec Astra Pro and Intel RealSense can be adapted from REVO.

<!--- REVO supports three different sensors at the moment: * [Orbbec Astra Pro Sensor](https://orbbec3d.com/product-astra-pro/) * [Orbbec Astra Sensor](https://orbbec3d.com/product-astra/) * [Intel Realsense ZR300 (other versions are untested!)](https://click.intel.com/intelr-realsensetm-development-kit-featuring-the-zr300.html) For the Intel sensor set "WITH_REALSENSE", for the Orbbec Astra Pro set "WITH_ORBBEC_FFMPEG" (recommended) or "WITH_ORBBEC_UVC" (not recommended, requires third party tools) and for the non-pro Orbbec Astra set "WITH_ORBBEC_OPENNI"! **Note:** Make sure that you set the USB rules in a way that the sensor is accessible for every user (default is root only). REVO can be compiled for all three sensors only if WITH_REALSENSE, WITH_ORBBEC_FFMPEG and WITH_ORBBEC_OPENNI are set. If WITH_ORRBEC_UVC is set, there is a conflict with the librealsense! To solve this issue, use WITH_ORBBEC_FFMPEG! The sensor to be used is determined from the INPUT_TYPE set in the second config file. For Orbbec Astra Pro INPUT_TYPE: 1, for Intel Realsense INPUT_TYPE: 2 and for Orbbec Astra INPUT_TYPE: 3. Example config files for all three sensors can be found in the config directory! ### Intel RealSense ZR300 Install [librealsense](https://github.com/IntelRealSense/librealsense), set the intrinsic parameters in the config file. This framework was tested with the Intel RealSense ZR300. ### Orbbec Astra Sensor The (non-pro) Orbbec Astra Sensor can be fully accessed by Orbbec's OpenNI driver. First [download the openni driver](https://orbbec3d.com/develop/#registergestoos) and choose the correct *.zip file that matches your architecture, e.g. OpenNI-Linux_x64-2.3.zip. Extract it and copy libOpenNI2.so and the "Include" and "OpenNI2" folder to REVO_FOLDER/orbbec_astra_pro/drivers. ### Orbbec Astra Pro Sensor #### With FFMPEG The standard OpenNI driver can only access the depth stream of the [Orbbec Astra Pro Sensor](https://orbbec3d.com/product-astra-pro/), thus we have to access the color stream via FFMPEG. Install the newest FFMPEG version ```bash sudo apt install ffmpeg ``` or download from [FFMPEG Github](https://www.ffmpeg.org/download.html). #### With LibUVC (not recommended) The standard OpenNI driver can only access the depth stream of the [Orbbec Astra Pro Sensor](https://orbbec3d.com/product-astra-pro/), thus we have to access the color stream like a common webcam. *Note: We use libuvc because the standard webcam interface of [OpenCV](http://opencv.org/) buffers the images and doesn't always return the newest image.* First [download the openni driver](https://orbbec3d.com/develop/#registergestoos) and choose the correct *.zip file that matches your architecture, e.g. OpenNI-Linux_x64-2.3.zip. Extract it and copy libOpenNI2.so and the "Include" and "OpenNI2" folder to REVO_FOLDER/orbbec_astra_pro/drivers. Then install [Olaf Kaehler's fork of libuvc](https://github.com/olafkaehler/libuvc) by performing the following steps in the main directory. ```bash cd ThirdParty git clone https://github.com/olafkaehler/libuvc cd libuvc mkdir build cd build cmake . .. make -j make install ``` ## Troubleshooting ### Sophus There was a problem with the old REVO version and a new Sophus version that introduced orthogonality checks for rotation matrices. If you face such an error, simply check out the current version of REVO. ### Orbbec with LIBUVC and Intel Realsense If WITH_ORRBEC_UVC is set, there is a conflict with the librealsense! To solve this issue, use WITH_ORBBEC_FFMPEG!-->