# aruco_ekf_slam

**Repository Path**: ytuan1983/aruco_ekf_slam

## Basic Information

- **Project Name**: aruco_ekf_slam
- **Description**: ArUco-based EKF-SLAM. 
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2024-06-25
- **Last Updated**: 2024-06-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README


# ArUco-based EKF-SLAM. 

![image](https://github.com/ydsf16/aruco_ekf_slam/blob/master/ekf.gif)

For details, please refer to：https://zhuanlan.zhihu.com/p/45207081

Dataset：https://pan.baidu.com/s/1EX9CYmdEUR2BJh7v5dTNfA

## Prerequisites
Opencv 3.1, Eigen, ROS

## Demo

STEP 1. Download the repository to your ROS workspace：catkin_ws/src

STEP 2. Make：catkin_make

STEP 3. Run launch: roslaunch aruco_ekf_slam slam.launch

STEP 4. Play a rosbag: rosbag play aruco_slam_data_qhd1.bag -r 5