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Dynamic-ORB-SLAM2

Author: Horace He

To cite this repo, please use Pair-Navi: Peer-to-Peer Indoor Navigation with Mobile Visual SLAM

Dynamic-ORB-SLAM2 is a robust visual SLAM library that can identify and deal with dynamic objects for monocular, stereo and RGB-D configurations. More specificly, the Mask R-CNN is applied to extract dynamic objects from input frame. Then a mask is applied to feature extractor to remove dynamic keypoints in each level of image pyramid.

The system shows superior result in in camera trajectory estimation of TUM walking_xyz dataset compared to origin ORB-SLAM2. The absolute trajectory area goes down from 0.64 to 0.0016.

Dynamic ORB SLAM2 ORB SLAM2
ate Dynamic ate ORB

Examples are provided for TUM dataset in as both RGB-D and monocular. It's easy to do dynamic object exclusion in other ORB-SLAM2 examples by passing the model path in System class constructor.

1. License

Dynamic-ORB-SLAM2 is built upon ORB-SLAM2 and under the smae license accordingly.

ORB-SLAM2 is released under a GPLv3 license. For a list of all code/library dependencies (and associated licenses), please see Dependencies.md.

2. Prerequisites

The library is tested only in Ubuntu 18.04 and OpenCV 3.4.5. OpenCV dnn module is required for dnn inference.

C++11 or C++0x Compiler

We use the new thread and chrono functionalities of C++11.

Pangolin

We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

OpenCV

We use OpenCV to manipulate images and features, and to apply CNN model inference. Dowload and install instructions can be found at: http://opencv.org. Required at leat 3.4.5 with dnn module support.

Recommend install OpenCV from source with OpenCL turned on. This can dramatically speed up CNN inference with OpenCL GPU support.

Eigen3

Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

DBoW2 and g2o (Included in Thirdparty folder)

We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.

git-lfs

We use git-lfs to track big fils in ModelsCNN/ directory.

3. Building Dynamic-ORB-SLAM2 library and examples

Clone the repository:

git clone https://github.com/Horacehxw/Dynamic_ORB_SLAM2

We provide a script build.sh to build the Thirdparty libraries and ORB-SLAM2. Please make sure you have installed all required dependencies (see section 2). Execute:

cd Dynamic_ORB_SLAM2
chmod +x build.sh
./build.sh

This will create libDynamic_ORB_SLAM2.so at lib folder and the executables test, mask_rcnn, mono_tum, mono_kitti, rgbd_tum, stereo_kitti, mono_euroc and stereo_euroc in Examples folder.

4. Monocular Examples

TUM Dataset

  1. Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.

  2. Execute the following command. Change TUMX.yaml to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDERto the uncompressed sequence folder. The last argument MoelsCNN is optional for path to tensorflow CNN models directory.

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER [ModelsCNN/]

KITTI Dataset

  1. Download the dataset (grayscale images) from http://www.cvlibs.net/datasets/kitti/eval_odometry.php

  2. Execute the following command. Change KITTIX.yamlby KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change PATH_TO_DATASET_FOLDER to the uncompressed dataset folder. Change SEQUENCE_NUMBER to 00, 01, 02,.., 11.

./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER

EuRoC Dataset

  1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

  2. Execute the following first command for V1 and V2 sequences, or the second command for MH sequences. Change PATH_TO_SEQUENCE_FOLDER and SEQUENCE according to the sequence you want to run.

./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER/mav0/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt 

./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt

5. Stereo Examples

KITTI Dataset

  1. Download the dataset (grayscale images) from http://www.cvlibs.net/datasets/kitti/eval_odometry.php

  2. Execute the following command. Change KITTIX.yamlto KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change PATH_TO_DATASET_FOLDER to the uncompressed dataset folder. Change SEQUENCE_NUMBER to 00, 01, 02,.., 11.

./Examples/Stereo/stereo_kitti Vocabulary/ORBvoc.txt Examples/Stereo/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER

EuRoC Dataset

  1. Download a sequence (ASL format) from http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

  2. Execute the following first command for V1 and V2 sequences, or the second command for MH sequences. Change PATH_TO_SEQUENCE_FOLDER and SEQUENCE according to the sequence you want to run.

./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml PATH_TO_SEQUENCE/mav0/cam0/data PATH_TO_SEQUENCE/mav0/cam1/data Examples/Stereo/EuRoC_TimeStamps/SEQUENCE.txt

./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml PATH_TO_SEQUENCE/cam0/data PATH_TO_SEQUENCE/cam1/data Examples/Stereo/EuRoC_TimeStamps/SEQUENCE.txt

6. RGB-D Example

TUM Dataset

  1. Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.

  2. Associate RGB images and depth images using the python script associate.py. We already provide associations for some of the sequences in Examples/RGB-D/associations/. You can generate your own associations file executing:

python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.txt
  1. Execute the following command. Change TUMX.yaml to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDERto the uncompressed sequence folder. Change ASSOCIATIONS_FILE to the path to the corresponding associations file. The last argument ModelsCNN/ is optional to provide path to tensorflow CNN models directory.
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml PATH_TO_SEQUENCE_FOLDER ASSOCIATIONS_FILE [ModelsCNN/]

7. Processing your own sequences

You will need to create a settings file with the calibration of your camera. See the settings file provided for the TUM and KITTI datasets for monocular, stereo and RGB-D cameras. We use the calibration model of OpenCV. See the examples to learn how to create a program that makes use of the ORB-SLAM2 library and how to pass images to the SLAM system. Stereo input must be synchronized and rectified. RGB-D input must be synchronized and depth registered.

8. SLAM and Localization Modes

You can change between the SLAM and Localization mode using the GUI of the map viewer.

SLAM Mode

This is the default mode. The system runs in parallal three threads: Tracking, Local Mapping and Loop Closing. The system localizes the camera, builds new map and tries to close loops.

Localization Mode

This mode can be used when you have a good map of your working area. In this mode the Local Mapping and Loop Closing are deactivated. The system localizes the camera in the map (which is no longer updated), using relocalization if needed.

Acknowledgement

The entire project is build upon ORB-SLAM2