SuperSLAM: Framework for deep learning based SLAM

(Work in Progress) SuperSLAM is a deep learning based visual SLAM system that combines recent advances in learned feature detection and matching with the mapping capabilities of ORB_SLAM2.

It utilizes SuperPoint for keypoint detection and description and SuperGlue for robust feature matching between frames. These matches are then used by ORB_SLAM2 to estimate camera poses and build a map of the environment.

Environment required

• CUDA==11.6
• TensorRT==8.4.1.5
• OpenCV>=4.0
• Eigen
• yaml-cpp
• DBoW3
• DBoW2

Build and run

git clone https://github.com/adityamwagh/SuperSLAM.git
cd SuperSLAM
sh ./build.sh

The default image size param is 320x240, if you need to modify the image size in the config file, you should delete the old .engine file in the weights dir.

Acknowledgements

• SuperPoint
• SuperGlue
• TensorRT
• AirVO
• ORB_SLAM2