DEllipsoid-SLAM

An Object-level SLAM Method Based on Ellipsoidal Representation in Dynamic Scenes.

video address at: https://www.bilibili.com/video/BV1jt421G7G9/?vd_source=737506656063f049ffdc96e35434c482/

Our environments: ubuntu18.04/GCC7.5/ GPU: RTX2080ti.
Our sourse code: coming soon.

System critical step:

Installation

Our environments: ubuntu18.04/GCC7.5/GPU: RTX2080ti.

Our code is tested on:

• CMake 3.10.0
• Eigen 3.3.7
• NVIDIA CUDA 10.2
• OpenCV 4.5.5
• pytorch 1.6.0
• pcl 1.8.1
• ceres 1.14
• Sophus 1.0

build on linux:

Install ceres 's dependency

sudo apt-get install libvtk7-dev libsuitesparse-dev liblapack-dev libblas-dev libgtk2.0-dev

Build ceres 's dependency

gflags 2.2.2 set 'BUILD_SHARED_LIBS' to ON
glog 0.6.0
boost 1.65 ####### Build ceres ceres 1.14.0 ####### Build Opt git clone https://github.com/niessner/Opt.git as in dynamic fusion Optional:

• Pangolin

mkdir build && cd build
cmake -DVISUALIZATION=ON ..
make -j8

We use -DVISUALIZATION=OFF/ON to switch visualization plug.