# ORB_SLAM_live-map

**Repository Path**: wdb111/ORB_SLAM_live-map

## Basic Information

- **Project Name**: ORB_SLAM_live-map
- **Description**: Build live frequency occupy grid map from ORB_SLAM map points. Also has the option generate new map points for denser map construction
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-04-24
- **Last Updated**: 2021-04-24

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ORB_SLAM_live-map
Build live frequency occupy grid map from ORB_SLAM map points. Also has the option to generate new map points base on ORB_SLAM map points to make the map denser. 

This repository use a modified version of ORB_SLAM that output the map points and keyframes to disk: https://github.com/minhnhat93/ORB_SLAM2

For details how the extra map points are generated see the slide: https://github.com/minhnhat93/ORB_SLAM_live-map/tree/master/docs/slide_extra_map_points_for_orb_slam.odp

# Segementation + Illustration of ORB_SLAM map points (green) and extra map points (red):
![alt tag](https://raw.githubusercontent.com/minhnhat93/ORB_SLAM_live-map/master/images/segmentation_with_mps_and_extra_points.png)

# Occupancy Grid Map building with ORB_SLAM map points:
![alt tag](https://raw.githubusercontent.com/minhnhat93/ORB_SLAM_live-map/master/images/map_thresholded.png)

# Occupancy Grid Map building with ORB_SLAM map points and extra map points:
![alt tag](https://raw.githubusercontent.com/minhnhat93/ORB_SLAM_live-map/master/images/map_thresholded_with_extra_points.png)