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EPLF-VINS
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EPLF-VINS
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# EPLF-VINS ## Real-Time Monocular Visual-Inertial SLAM With Efficient Point-Line Flow Features EPLF-VINS is a real-time SLAM framework with efficient point-line flow features. Our work primarily focuses on improving the speed of detection and tracking of line features. The main contributions are in the "linefeature_tracker" folder **2022/12/20 The open-source version of our algorithm is being prepared and will be open-sourced soon.** **2023/5/28 The open source version is released.** **2024/6/1 Update Readme.** Authors: Lei Xu, Hesheng Yin, Tong Shi, Jiang Di, Bo Huang from the HIT Industrial Research Institute of Robotics and Intelligent Equipment. ## 1.Prerequisites 1.1 Our testing hardware configuration is a 3.6 GHz Core AMD Ryzen 5-3600 CPU and 16 GB memory desktop PC. 1.2 The algorithms are run on Ubuntu 18.04 with OpenCV 3.4.16 and Ceres solver 1.14.0. 1.3 **Note that** : OpenCV(with opencv_contrib) requires library functions for the relevant library functions for line feature extraction (EDLines) such as OpenCV 3.4.16. ## 2.Build ``` shell cd ~/catkin_ws/src git clone https://github.com/LeiXu1999/EPLF-VINS.git cd ../ catkin_make source ~/catkin_make/devel/setup.bash ``` ## 3.Run on the dataset We provide guidelines for running on the dataset including [EuRoC](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets), [TUM VI](https://vision.in.tum.de/data/datasets/visual-inertial-dataset), and [KAIST VIO](https://github.com/url-kaist/kaistviodataset). EuRoC: ``` shell roslaunch lfvins_estimator euroc.launch rosbag play your_euroc_path/MH_01_easy.bag ``` TUM VI: ``` shell roslaunch lfvins_estimator tumvi.launch rosbag play your_tumvi_path/dataset-magistrale1_512_16.bag ``` KAIST VIO: ``` shell roslaunch lfvins_estimator kaistvio.launch rosbag play your_kasitvio_path/circle.bag ``` ## 4.Deployed on your device ROS topics for cameras and IMUs are required to run the entire system. Videos: [realRobot_Youtube](https://youtu.be/GCeYeh0P-VE), [BiliBili_link](https://www.bilibili.com/video/BV1ig411r7F5/)  The config.yaml file needs to be modified before running which is including necessary parameters such as camera topic name, imu topic name, camera internal parameters, camera-imu extrinsic parameters, and IMU internal parameters. ``` shell *launch your sensor_ros_package* *change your robot parameters* cd ~/catkin_ws/src gedit ../config/realrobot.yaml *launch EPLF-VINS* source devel/setup.bash roslaunch lfvins_estimator real.launch ``` You can contact me for deployment issues. ## 5.Acknowledgements Thanks to the open sources of [PL-VINS](https://github.com/cnqiangfu/PL-VINS) and [VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono), it is possible to build our algorithm quickly within the VINS system. ### The reference: VINS-Mono: ``` shell @ARTICLE{VINS-Mono, author={Qin, Tong and Li, Peiliang and Shen, Shaojie}, journal={IEEE Trans. Robot.}, title={{VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator}}, year={2018}, volume={34}, number={4}, pages={1004-1020}, doi={10.1109/TRO.2018.2853729}} ``` PL-VINS: ``` shell @article{PL-VINS, author = {Qiang Fu and Jialong Wang and Hongshan Yu and Islam Ali and Feng Guo and Hong Zhang}, title = {{PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line}}, journal = {CoRR}, volume = {abs/2009.07462}, year = {2020}, url = {https://arxiv.org/abs/2009.07462}, eprinttype = {arXiv}, eprint = {2009.07462}, timestamp = {Wed, 09 Feb 2022 17:07:27 +0100}, biburl = {https://dblp.org/rec/journals/corr/abs-2009-07462.bib}, bibsource = {dblp computer science bibliography, https://dblp.org} } ``` ## 6.License The source code is released under GPLv3 license. We are still working on improving the code reliability. For any technical issues, please contact Lei Xu <xulei3shi@163.com>. Thank Tong Shi (哈尔滨工业大学威海校区本科毕业生) for helping me code this system. He makes a huge contribution in this work. A more readable version can be found at his GITHUB [link](). For commercial inquiries, please contact Professor-Bo Huang <18606301906@163.com>.
