ORBFusion

This repository is for 'ORBFusion: Real-time and Accurate dense SLAM at large scale', which is capable of producing high quality globally consistent point and mesh reconstructions in real-time at large scale with RGB-D images.

Related Publications

If ORBFusion is helpful for your research, please consider citing :

• [ORBFusion: Real-time and Accurate dense SLAM at large scale], J. Dai, X. Tang, L. Oppermann, IEEE ISMAR 2017

1:Prerequisites

• Ubuntu 14.04, 16.04 (We have tested the library in Ubuntu 14.04 and 16.04, but it should be easy to compile in other platforms)
• CMake
• OpenGL
• CUDA >= 7.0
• OpenNI2
• SuiteSparse
• Eigen
• Boost
• zlib
• libjpeg
• OpenCV
• DLib @ 330bdc10576f6bcb55e0bd85cd5296f39ba8811a
• DBoW2 @ 4a6eed2b3ae35ed6837c8ba226b55b30faaf419d
• DLoopDetector @ 84bfc56320371bed97cab8aad3aa9561ca931d3f
• iSAM
• PCL
• Pangolin
• C++11 or C++0x Compiler

2: Test

TUM Dataset

1. Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and create the corresponding associations.txt file, and put the file under the dataset directory.

2. We provide a script build.sh to build the Thirdparty libraries needed and ORBFusion. Please make sure you have installed all required dependencies (section 1:Prerequisites) and change the corresponding dataset address to your own in file `ORBFusion/src/MainControlle.cpp, Then execute:

cd ORBFusion
chmod +x build.sh
./build.sh

This will create a build folder and executable ORBFusion in build folder, executing the following command.

cd build
./ORBFusion