SRRG2-PROSLAM

March 5, 2020 ยท View on GitHub

This repository contains two Catkin packages:

  1. srrg2_proslam: VO pipeline (supports Stereo or RGB-D cameras)
  2. srrg2_proslam_ros: ROS node (still under development)

This package lives inside the srrg2 multiverse. It builds on top of our multi-cue SLAM architecture reported in srrg2_slam_interfaces.

To know how to build and to use our pipeline, please refer to the respective package readme files.

Publications

To have a more detailed overview on this architecture, you can read our new preprint. If you use our code, please cite us in your work.

@misc{colosi2020plugandplay,
    title={Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use},
    author={Mirco Colosi and Irvin Aloise and Tiziano Guadagnino and Dominik Schlegel and Bartolomeo Della Corte and Kai O. Arras and Giorgio Grisetti},
    year={2020},
    eprint={2003.00754},
    archivePrefix={arXiv},
    primaryClass={cs.RO}
}

Contributors

  • Dominik Schlegel
  • Mirco Colosi
  • Irvin Aloise
  • Giorgio Grisetti
  • Bartolomeo Della Corte
  • Tiziano Guadagnino

License

BSD 3.0