GPS与视觉SLAM融合
This is a repo for my master thesis research about the Fusion of Visual SLAM and GPS. It contains the research paper, code and other interesting data.
Note: This is work in progress. Please take a look at the website that accompanies this research at:
https://Master.Kalisz.co
There is also a ros-wrapper for DSO, which is used for the real-time part of this work (see https://github.com/JakobEngel/dso_ros). The "catkin" branch by Nikolaus Demmel was actually used here, as the original "rosmake" version did not work for me. License: GPL-v3.
### Direct Sparse Odometry (DSO)
This work uses the Direct Sparse Odometry Project by TUM (see: https://vision.in.tum.de/dso and https://github.com/JakobEngel/dso). License: GPL-v3.
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（ 69 个子文件 213KB ） GPS与视觉SLAM融合
Visual-GPS-SLAM-master
03_Application
dso_ros
src
main.cpp 5.74KB
CMakeLists.txt 1.27KB
LICENSE 34.30KB
README.md 2.17KB
package.xml 773B
.gitignore 251B
median_filter
median_filter.py 653B
dso
src
IOWrapper
ImageRW_dummy.cpp 1.63KB
ImageDisplay.h 1.97KB
Output3DWrapper.h 7.28KB
ImageDisplay_dummy.cpp 1.91KB
Pangolin
PangolinDSOViewer.cpp 15.32KB
KeyFrameDisplay.h 2.82KB
KeyFrameDisplay.cpp 10.34KB
PangolinDSOViewer.h 3.29KB
ImageRW.h 1.47KB
OutputWrapper
SampleOutputWrapper.h 6.84KB
OpenCV
ImageRW_OpenCV.cpp 3.48KB
ImageDisplay_OpenCV.cpp 5.32KB
FullSystem
CoarseInitializer.cpp 24.68KB
CoarseTracker.h 4.06KB
PixelSelector2.cpp 10.39KB
ImmaturePoint.cpp 15.99KB
Residuals.cpp 8.06KB
CoarseInitializer.h 4.42KB
HessianBlocks.h 12.95KB
FullSystem.h 8.12KB
ImmaturePoint.h 2.68KB
FullSystemMarginalize.cpp 5.82KB
PixelSelector2.h 1.63KB
FullSystemDebugStuff.cpp 9.85KB
ResidualProjections.h 2.36KB
HessianBlocks.cpp 5.99KB
FullSystem.cpp 44.70KB
CoarseTracker.cpp 27.37KB
PixelSelector.h 5.88KB
Residuals.h 2.30KB
FullSystemOptPoint.cpp 5.28KB
FullSystemOptimize.cpp 17.04KB
main_dso_pangolin.cpp 19.13KB
util
MinimalImage.h 2.92KB
globalCalib.h 1.36KB
globalFuncs.h 11.22KB
globalCalib.cpp 2.82KB
Undistort.cpp 29.20KB
NumType.h 5.42KB
settings.cpp 12.23KB
DatasetReader.h 20.28KB
settings.h 5.45KB
ImageAndExposure.h 1.68KB
nanoflann.h 47.76KB
FrameShell.h 1.89KB
IndexThreadReduce.h 4.49KB
Undistort.h 4.36KB
OptimizationBackend
RawResidualJacobian.h 1.65KB
EnergyFunctional.cpp 22.96KB
EnergyFunctionalStructs.cpp 3.40KB
AccumulatedTopHessian.cpp 8.69KB
AccumulatedSCHessian.cpp 6.04KB
EnergyFunctionalStructs.h 3.11KB
AccumulatedSCHessian.h 3.91KB
MatrixAccumulators.h 41.92KB
EnergyFunctional.h 3.61KB
AccumulatedTopHessian.h 3.91KB
video2bag
img2bag.py 4.87KB
LICENSE 34.32KB
README.md 929B
.gitignore 2.14KB
06_Data
Logfiles
BlenderSceneCity_ConsoleLogFile.txt 11.70KB
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