LongTermGlobalLocalization

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LongTermGlobalLocalization

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Long Term Global Localization leveraging Linear Geometry (Based on ORB-SLAM)

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# Long Term Global Localization leveraging Linear Geometry(based on ORB-SLAM2)

## Temporal Dataset can be downloaded here
 - [labri_landscape_overcase](https://drive.google.com/open?id=1o4i9grRQoC7nAmFOOKjGoray5fZ47H2u)
 - [uvrlab_short_s7_1280_720](https://drive.google.com/file/d/1VYSTurUPFkotIjCHxG_bGgdDXl-kV3gx/view?usp=sharing)
 - [line3dpp_testdata](https://drive.google.com/file/d/1vQDOZrm6ZPEjbKmgcJXEwQiCNlOxDNds/view?usp=sharing)

## How to use. 
  ```
 ./LTGL/src/main -v (vocab path) -p (paramter path) -i (img path) -c (colmap_path) -s -m -r -l
  ```

(vocab path) path to ORBvoc.bin. 
(paramter path) path to parameter file (ex. s7_1280.yaml)
(img path) includes all of 'images', 'results', 'undistort' directory. 
(-c) option will make it use camera poses pre-calucated from colmap.
(-s) option will make it use of save/load function. 
(-m) option will make it use of save/load function. 
(-r) option will make it use of save/load function. 
(-l) option will make it use of save/load function. 
 * Should change the file names of Map.mapfile / Map.lineNotOptMapfile / Map.lineOptMapfile in the setting file (.yaml file) to save the resulting maps.

## Updating ...
**Reference**:

- [Jiankai-Sun/ORB_SLAM2](https://github.com/Jiankai-Sun/ORB_SLAM2_Enhanced)

- [raulmur/ORB_SLAM2](https://github.com/raulmur/ORB_SLAM2)

**Original Authors:** [Raul Mur-Artal](http://webdiis.unizar.es/~raulmur/), [Juan D. Tardos](http://webdiis.unizar.es/~jdtardos/), [J. M. M. Montiel](http://webdiis.unizar.es/~josemari/) and [Dorian Galvez-Lopez](http://doriangalvez.com/) ([DBoW2](https://github.com/dorian3d/DBoW2))

ORB-SLAM2 is a real-time SLAM library for **Monocular**, **Stereo** and **RGB-D** cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. We provide examples to run the SLAM system in the [KITTI dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) as stereo or monocular, in the [TUM dataset](http://vision.in.tum.de/data/datasets/rgbd-dataset) as RGB-D or monocular, and in the [EuRoC dataset](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) as stereo or monocular. We also provide a ROS node to process live monocular, stereo or RGB-D streams. **The library can be compiled without ROS**. ORB-SLAM2 provides a GUI to change between a *SLAM Mode* and *Localization Mode*, see section 9 of this document.

### Related Publications:

- [Monocular] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. **ORB-SLAM: A Versatile and Accurate Monocular SLAM System**. *IEEE Transactions on Robotics,* vol. 31, no. 5, pp. 1147-1163, 2015. (**2015 IEEE Transactions on Robotics Best Paper Award**). **[PDF](http://webdiis.unizar.es/~raulmur/MurMontielTardosTRO15.pdf)**.

- [Stereo and RGB-D] Raúl Mur-Artal and Juan D. Tardós. **ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras**. *ArXiv preprint arXiv:1610.06475* **[PDF](https://128.84.21.199/pdf/1610.06475.pdf)**.

- [DBoW2 Place Recognizer] Dorian Gálvez-López and Juan D. Tardós. **Bags of Binary Words for Fast Place Recognition in Image Sequences**. *IEEE Transactions on Robotics,* vol. 28, no. 5, pp.  1188-1197, 2012. **[PDF](http://doriangalvez.com/php/dl.php?dlp=GalvezTRO12.pdf)**

# 1. License

ORB-SLAM2 is released under a [GPLv3 license](https://github.com/raulmur/ORB_SLAM2/blob/master/License-gpl.txt). For a list of all code/library dependencies (and associated licenses), please see [Dependencies.md](https://github.com/raulmur/ORB_SLAM2/blob/master/Dependencies.md).

For a closed-source version of ORB-SLAM2 for commercial purposes, please contact the authors: orbslam (at) unizar (dot) es.

If you use ORB-SLAM2 (Monocular) in an academic work, please cite:

@article{murTRO2015,
      title={{ORB-SLAM}: a Versatile and Accurate Monocular {SLAM} System},
      author={Mur-Artal, Ra\'ul, Montiel, J. M. M. and Tard\'os, Juan D.},
      journal={IEEE Transactions on Robotics},
      volume={31},
      number={5},
      pages={1147--1163},
      doi = {10.1109/TRO.2015.2463671},
      year={2015}
     }

if you use ORB-SLAM2 (Stereo or RGB-D) in an academic work, please cite:

@article{murORB2,
      title={{ORB-SLAM2}: an Open-Source {SLAM} System for Monocular, Stereo and {RGB-D} Cameras},
      author={Mur-Artal, Ra\'ul and Tard\'os, Juan D.},
      journal={arXiv preprint arXiv:1610.06475},
      year={2016}
     }

# 2. Prerequisites
We have tested the library in **Ubuntu 12.04**, **14.04** and **16.04**, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.

## C++11 or C++0x Compiler
We use the new thread and chrono functionalities of C++11.

## Pangolin
We use [Pangolin](https://github.com/stevenlovegrove/Pangolin) for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

## OpenCV
We use [OpenCV](http://opencv.org) to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. **Required at leat 2.4.3. Tested with OpenCV 2.4.11, OpenCV 2.4.13 and OpenCV 3.2**.

## Eigen3
Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. **Required at least 3.1.0**.

## DBoW2 and g2o (Included in Thirdparty folder)
We use modified versions of the [DBoW2](https://github.com/dorian3d/DBoW2) library to perform place recognition and [g2o](https://github.com/RainerKuemmerle/g2o) library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the *Thirdparty* folder.

## ROS (optional)
We provide some examples to process the live input of a monocular, stereo or RGB-D camera using [ROS](ros.org). Building these examples is optional. In case you want to use ROS, a version Hydro or newer is needed.

## Boost
Map save/load feature needs boost library and more specifically the`libboost_serialization` library.

## Acknowledgment
This work was supported by Institute of Information & communications Technology Planning & Evaluation (IITP) grant funded by the Korea government(MSIT) (No.2019-0-01270, WISE AR UI/UX Platform Development for Smartglasses)

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