rgbdtools

Ivan Dryanovski
[email protected]

Copyright (C) 2013, City University of New York
CCNY Robotics Lab
http://robotics.ccny.cuny.edu/

Overview

The stack contains tools for visual odometry and mapping using RGB-D cameras.

For ROS applications built using this library, see ccny_rgbd_tools.

This code is at an experimental stage, and licensed under the GPLv3 license.

Installing

If you are using this library as part of ROS, then refer to the ccny_rgbd_tools installation instructions. You do not need to install anything manually.

If you would like to build this library stand-alone, then follow these steps:

If you don't have git installed, do so:

sudo apt-get install git-core

Download the stack from our repository:

git clone https://github.com/ccny-ros-pkg/rgbdtools.git

Install the required dependencies:

• g2o

If you have libg2o installed using the ROS package manager, you might need to remove it:

sudo apt-get remove ros-fuerte-libg2o
sudo apt-get remove ros-groovy-libg2o

Next, configure and build:

mkdir build
cd build
cmake ..
make

References

If you use this system in your reasearch, please cite the following paper:

Ivan Dryanovski, Roberto G. Valenti, Jizhong Xiao. Fast Visual Odometry and Mapping from RGB-D Data. 2013 International Conference on Robotics and Automation (ICRA2013).

More info

Videos:

• Visual odometry & 3D mapping: http://youtu.be/YE9eKgek5pI
• Feature viewer: http://youtu.be/kNkrPuBu8JA