(Work in Progress) Very early stage development that I do in my free time now. This might break once in a while.
SuperSLAM is a deep learning based visual SLAM system that combines recent advances in learned feature detection and matching with the mapping capabilities of ORB_SLAM2.
It utilizes SuperPoint for keypoint detection and description and SuperGlue for robust feature matching between frames. These matches are then used by ORB_SLAM2 to estimate camera poses and build a map of the environment.
One of the future goals is to eventually replace the ORB_SLAM2 backend with a more modern and performant implementation and also release the code under a MIT Licence.
- CUDA==11.6
- TensorRT==8.4.1.5
- OpenCV>=4.0
- Eigen
- yaml-cpp
- DBoW3
- DBoW2
- Ubuntu 20.04
Clone the repository and the submodules.
git clone https://github.com/adityamwagh/SuperSLAM.git --recursive
cd SuperSLAMsh ./build_dependencies.shYou can use the included script to build the dependencies or install using the APT package manager.
# OpenCV
sudo apt-get install -y libopencv-dev
# Eigen
sudo apt install libeigen3-dev
# Pangolin
git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
# Pangolin is split into a few components so you can include just what you need. Most dependencies are optional so you can pick and mix for your needs.
# Rather than enforcing a particular package manager, you can use a simple script to generate a list of (required, recommended or all) packages for installation for that manager (e.g. apt, port, brew, dnf, pacman, vcpkg):
# See what package manager and packages are recommended
./scripts/install_prerequisites.sh --dry-run recommended
# install recommended prerequisites for pangolin
./scripts/install_prerequisites.sh recommended
# Configure and build
cmake -B build
cmake --build build
# with Ninja for faster builds (sudo apt install ninja-build)
cmake -B build -GNinja
cmake --build build# Configure and build
cmake -B build
cmake --build build
# with Ninja for faster builds (sudo apt install ninja-build)
cmake -B build -GNinja
cmake --build build
Lot of code is borrowed from these repositories. Thanks to the authors for opensourcing them!