Orbeez-SLAM

The paper is available in https://arxiv.org/abs/2209.13274

• Video

More details can be found in my master thesis (Main content is written in English).

• offical link (require registration to download)
• pdf

Orbeez-SLAM 🔫 is implemented with two open source projects

• ORB-SLAM2 (GPLv3 license)
• instant-ngp (Nvidia Source Code License-NC)

License

This repo is GPLv3 Licensed (inherit ORB-SLAM2). It reimplements parts of ORB-SLAM2. Our changes to instant-NGP (Nvidia License) are released in our fork of instant-ngp and added here as a thirdparty dependency using git submodules. Several evaluation files in scripts are BSD License.

How to build

Please refer to BUILD.md

RUN on TUM

Please refer to TUM.md

RUN on Replica

Please refer to Replica.md

RUN on ScanNet

Please refer to ScanNet.md

RUN on a custom dataset

Please refer to Custom.md

Evaluation

Please refer to Eval.md

Acknowledgments

This work has been possible thanks to the open-source code from ORB-SLAM2 and instant-ngp, as well as the open-source datasets Replica and TUM-dataset.