# ORB_SLAM3-RGBD-Inertial

**Repository Path**: casiaros/ORB_SLAM3-RGBD-Inertial

## Basic Information

- **Project Name**: ORB_SLAM3-RGBD-Inertial
- **Description**: RGBD-inertial mode and its ROS interface was added to ORB_SLAM3. Two ROS interfaces Mono_inertial and Stereo_inertial were provided. Modified the loading vocabulary in a faster binary way.
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2021-11-26
- **Last Updated**: 2022-01-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ORB_SLAM3-RGBD-Inertial
RGBD-inertial mode and its ROS interface was added to ORB_SLAM3.

ROS interfaces Mono_inertial and Stereo_inertial were provided.

Modified the loading vocabulary in a faster binary way.

增加了RGBD-IMU的运行模式和ROS接口，增加了单目IMU和双目IMU的ROS接口，替换了词典为二进制格式，加载速度更快。

Command

RGBD: rosrun ORB_SLAM3 RGBD /YOUR_PATH/ORBvoc.bin /YOUR_PATH/Myd435i.yaml

RGBD_inertial: rosrun ORB_SLAM3 RGBD_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/Myd435i.yaml

Stereo_inertial: rosrun ORB_SLAM3 Stereo_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/EuRoC.yaml

Mono_inertial: rosrun ORB_SLAM3 Mono_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/EuRoC.yaml


RGBD-inertial Mode Tested with d435i rosbag: 

https://star-center.shanghaitech.edu.cn/seafile/d/0ea45d1878914077ade5/