# ORB_SLAM3-ROS-Interface

**Repository Path**: futurelei/ORB_SLAM3-ROS-Interface

## Basic Information

- **Project Name**: ORB_SLAM3-ROS-Interface
- **Description**: ORBSLAM3的ROS接口，VIO
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-01-21
- **Last Updated**: 2022-07-05

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ORB_SLAM3-ROS-Interface
Two ROS interfaces Mono_inertial and Stereo_inertial were added to the ORB-SLAM3. Modified the loading vocabulary in a faster binary way.

增加了两个ROS接口，单目IMU和双目IMU，替换了词典为二进制格式，加载速度更快。

Command

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

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

![运行效果](https://github.com/xiefei2929/ORB_SLAM3-ROS-Interface/blob/master/ROS-Interface.png)