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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.