# VINS-RGBD

**Repository Path**: li_luoman/VINS-RGBD

## Basic Information

- **Project Name**: VINS-RGBD
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-02-17
- **Last Updated**: 2022-02-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## RGBD-Inertial Trajectory Estimation and Mapping for Small Ground Rescue Robot
Based one open source SLAM framework [VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono).

The approach contains
+ Depth-integrated visual-inertial initialization process.
+ Visual-inertial odometry by utilizing depth information while avoiding the limitation is working for 3D pose estimation.
+ Noise elimination map which is suitable for path planning and navigation.

However, the proposed approach can also be applied to other application like handheld and wheeled robot.

This dataset is part of the dataset collection of the [STAR Center](https://star-center.shanghaitech.edu.cn/), [ShanghaiTech University](http://www.shanghaitech.edu.cn/eng): https://star-datasets.github.io/

A video showing the data is available here: https://robotics.shanghaitech.edu.cn/datasets/VINS-RGBD

## Paper
Shan, Zeyong, Ruijian Li, and Sören Schwertfeger. "RGBD-inertial trajectory estimation and mapping for ground robots." Sensors 19.10 (2019): 2251.


    @article{shan2019rgbd,
      title={RGBD-inertial trajectory estimation and mapping for ground robots},
      author={Shan, Zeyong and Li, Ruijian and Schwertfeger, S{\"o}ren},
      journal={Sensors},
      volume={19},
      number={10},
      pages={2251},
      year={2019},
      publisher={Multidisciplinary Digital Publishing Institute}
    }


## 1. Prerequisites
1.1. **Ubuntu** 16.04 or 18.04.

1.2. **ROS** version Kinetic or Melodic fully installation

1.3. **Ceres Solver**
Follow [Ceres Installation](http://ceres-solver.org/installation.html)

1.4. **Sophus**
```
  git clone http://github.com/strasdat/Sophus.git
  git checkout a621ff
```


## 2. Datasets
Recording by RealSense D435i. Contain 9 bags in three different applicaions:
+ [Handheld](https://star-center.shanghaitech.edu.cn/seafile/d/0ea45d1878914077ade5/)
+ [Wheeled robot](https://star-center.shanghaitech.edu.cn/seafile/d/78c0375114854774b521/) ([Jackal](https://www.clearpathrobotics.com/jackal-small-unmanned-ground-vehicle/))
+ [Tracked robot](https://star-center.shanghaitech.edu.cn/seafile/d/f611fc44df0c4b3d936d/)

Note the rosbags are in compressed format. Use "rosbag decompress" to decompress.

Topics:
+ depth topic: /camera/aligned_depth_to_color/image_raw
+ color topic: /camera/color/image_raw
+ imu topic: /camera/imu




## 3. Licence
The source code is released under [GPLv3](http://www.gnu.org/licenses/) license.