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.
文件下载
资源详情
[{"title":"（ 69 个子文件 213KB ） GPS与视觉SLAM融合","children":[{"title":"Visual-GPS-SLAM-master","children":[{"title":"03_Application","children":[{"title":"dso_ros","children":[{"title":"src","children":[{"title":"main.cpp <span style='color:#111;'> 5.74KB </span>","children":null,"spread":false}],"spread":true},{"title":"CMakeLists.txt <span style='color:#111;'> 1.27KB </span>","children":null,"spread":false},{"title":"LICENSE <span style='color:#111;'> 34.30KB </span>","children":null,"spread":false},{"title":"README.md <span style='color:#111;'> 2.17KB </span>","children":null,"spread":false},{"title":"package.xml <span style='color:#111;'> 773B </span>","children":null,"spread":false},{"title":".gitignore <span style='color:#111;'> 251B </span>","children":null,"spread":false}],"spread":true},{"title":"median_filter","children":[{"title":"median_filter.py <span style='color:#111;'> 653B </span>","children":null,"spread":false}],"spread":true},{"title":"dso","children":[{"title":"src","children":[{"title":"IOWrapper","children":[{"title":"ImageRW_dummy.cpp <span style='color:#111;'> 1.63KB </span>","children":null,"spread":false},{"title":"ImageDisplay.h <span style='color:#111;'> 1.97KB </span>","children":null,"spread":false},{"title":"Output3DWrapper.h <span style='color:#111;'> 7.28KB </span>","children":null,"spread":false},{"title":"ImageDisplay_dummy.cpp <span style='color:#111;'> 1.91KB </span>","children":null,"spread":false},{"title":"Pangolin","children":[{"title":"PangolinDSOViewer.cpp <span style='color:#111;'> 15.32KB </span>","children":null,"spread":false},{"title":"KeyFrameDisplay.h <span style='color:#111;'> 2.82KB </span>","children":null,"spread":false},{"title":"KeyFrameDisplay.cpp <span style='color:#111;'> 10.34KB </span>","children":null,"spread":false},{"title":"PangolinDSOViewer.h <span style='color:#111;'> 3.29KB </span>","children":null,"spread":false}],"spread":true},{"title":"ImageRW.h <span style='color:#111;'> 1.47KB </span>","children":null,"spread":false},{"title":"OutputWrapper","children":[{"title":"SampleOutputWrapper.h <span style='color:#111;'> 6.84KB </span>","children":null,"spread":false}],"spread":true},{"title":"OpenCV","children":[{"title":"ImageRW_OpenCV.cpp <span style='color:#111;'> 3.48KB </span>","children":null,"spread":false},{"title":"ImageDisplay_OpenCV.cpp <span style='color:#111;'> 5.32KB </span>","children":null,"spread":false}],"spread":false}],"spread":true},{"title":"FullSystem","children":[{"title":"CoarseInitializer.cpp <span style='color:#111;'> 24.68KB </span>","children":null,"spread":false},{"title":"CoarseTracker.h <span style='color:#111;'> 4.06KB </span>","children":null,"spread":false},{"title":"PixelSelector2.cpp <span style='color:#111;'> 10.39KB </span>","children":null,"spread":false},{"title":"ImmaturePoint.cpp <span style='color:#111;'> 15.99KB </span>","children":null,"spread":false},{"title":"Residuals.cpp <span style='color:#111;'> 8.06KB </span>","children":null,"spread":false},{"title":"CoarseInitializer.h <span style='color:#111;'> 4.42KB </span>","children":null,"spread":false},{"title":"HessianBlocks.h <span style='color:#111;'> 12.95KB </span>","children":null,"spread":false},{"title":"FullSystem.h <span style='color:#111;'> 8.12KB </span>","children":null,"spread":false},{"title":"ImmaturePoint.h <span style='color:#111;'> 2.68KB </span>","children":null,"spread":false},{"title":"FullSystemMarginalize.cpp <span style='color:#111;'> 5.82KB </span>","children":null,"spread":false},{"title":"PixelSelector2.h <span style='color:#111;'> 1.63KB </span>","children":null,"spread":false},{"title":"FullSystemDebugStuff.cpp <span style='color:#111;'> 9.85KB </span>","children":null,"spread":false},{"title":"ResidualProjections.h <span style='color:#111;'> 2.36KB </span>","children":null,"spread":false},{"title":"HessianBlocks.cpp <span style='color:#111;'> 5.99KB </span>","children":null,"spread":false},{"title":"FullSystem.cpp <span style='color:#111;'> 44.70KB </span>","children":null,"spread":false},{"title":"CoarseTracker.cpp <span style='color:#111;'> 27.37KB </span>","children":null,"spread":false},{"title":"PixelSelector.h <span style='color:#111;'> 5.88KB </span>","children":null,"spread":false},{"title":"Residuals.h <span style='color:#111;'> 2.30KB </span>","children":null,"spread":false},{"title":"FullSystemOptPoint.cpp <span style='color:#111;'> 5.28KB </span>","children":null,"spread":false},{"title":"FullSystemOptimize.cpp <span style='color:#111;'> 17.04KB </span>","children":null,"spread":false}],"spread":false},{"title":"main_dso_pangolin.cpp <span style='color:#111;'> 19.13KB </span>","children":null,"spread":false},{"title":"util","children":[{"title":"MinimalImage.h <span style='color:#111;'> 2.92KB </span>","children":null,"spread":false},{"title":"globalCalib.h <span style='color:#111;'> 1.36KB </span>","children":null,"spread":false},{"title":"globalFuncs.h <span style='color:#111;'> 11.22KB </span>","children":null,"spread":false},{"title":"globalCalib.cpp <span style='color:#111;'> 2.82KB </span>","children":null,"spread":false},{"title":"Undistort.cpp <span style='color:#111;'> 29.20KB </span>","children":null,"spread":false},{"title":"NumType.h <span style='color:#111;'> 5.42KB </span>","children":null,"spread":false},{"title":"settings.cpp <span style='color:#111;'> 12.23KB </span>","children":null,"spread":false},{"title":"DatasetReader.h <span style='color:#111;'> 20.28KB </span>","children":null,"spread":false},{"title":"settings.h <span style='color:#111;'> 5.45KB </span>","children":null,"spread":false},{"title":"ImageAndExposure.h <span style='color:#111;'> 1.68KB </span>","children":null,"spread":false},{"title":"nanoflann.h <span style='color:#111;'> 47.76KB </span>","children":null,"spread":false},{"title":"FrameShell.h <span style='color:#111;'> 1.89KB </span>","children":null,"spread":false},{"title":"IndexThreadReduce.h <span style='color:#111;'> 4.49KB </span>","children":null,"spread":false},{"title":"Undistort.h <span style='color:#111;'> 4.36KB </span>","children":null,"spread":false}],"spread":false},{"title":"OptimizationBackend","children":[{"title":"RawResidualJacobian.h <span style='color:#111;'> 1.65KB </span>","children":null,"spread":false},{"title":"EnergyFunctional.cpp <span style='color:#111;'> 22.96KB </span>","children":null,"spread":false},{"title":"EnergyFunctionalStructs.cpp <span style='color:#111;'> 3.40KB </span>","children":null,"spread":false},{"title":"AccumulatedTopHessian.cpp <span style='color:#111;'> 8.69KB </span>","children":null,"spread":false},{"title":"AccumulatedSCHessian.cpp <span style='color:#111;'> 6.04KB </span>","children":null,"spread":false},{"title":"EnergyFunctionalStructs.h <span style='color:#111;'> 3.11KB </span>","children":null,"spread":false},{"title":"AccumulatedSCHessian.h <span style='color:#111;'> 3.91KB </span>","children":null,"spread":false},{"title":"MatrixAccumulators.h <span style='color:#111;'> 41.92KB </span>","children":null,"spread":false},{"title":"EnergyFunctional.h <span style='color:#111;'> 3.61KB </span>","children":null,"spread":false},{"title":"AccumulatedTopHessian.h <span style='color:#111;'> 3.91KB </span>","children":null,"spread":false}],"spread":true}],"spread":true}],"spread":true},{"title":"video2bag","children":[{"title":"img2bag.py <span style='color:#111;'> 4.87KB </span>","children":null,"spread":false}],"spread":true}],"spread":true},{"title":"LICENSE <span style='color:#111;'> 34.32KB </span>","children":null,"spread":false},{"title":"README.md <span style='color:#111;'> 929B </span>","children":null,"spread":false},{"title":".gitignore <span style='color:#111;'> 2.14KB </span>","children":null,"spread":false},{"title":"06_Data","children":[{"title":"Logfiles","children":[{"title":"BlenderSceneCity_ConsoleLogFile.txt <span style='color:#111;'> 11.70KB </span>","children":null,"spread":false}],"spread":true}],"spread":true}],"spread":true}],"spread":true}]
评论信息
-
-
-
Enjoylabandlife :垃圾东西，GitHub下的半成品2020-03-31 -
其他资源
- 电商平台对用户交易纠纷处理的机制或方案新
- JAVA GUI火车票管理系统（JAVA+MySQL）Java Swing.zip
- STM32l0XX示例代码
- 红外图像与可见光图像(图像融合)
- Kerry key可控源有限元二维正反演源程序和编译方法
- 编译原理课程设计+报告（用高级语言（c++）实现词法分析器、用lex实现词法分析器、LL1实现语法分析）打包上传
- 日文详细设计书文档
- 北京交通大学923历年考研真题-
- 中国海洋大学2016年信号与系统期末考试题A题
- 云南大学计算机技术复试经验分享
- u8g2.zip（PictureAndWord）
- 《复变函数学习指导书》作者: 钟玉泉 编 出版年: 1996年
- 白名单工具
- DNAMAN.exe
- 多线程以JDBC的方式返回海量数据
- 网上商城 ASP源码
- 文档AHB总线
- 室内可见光通信光照分布MATLAB代码
- 语音识别系统(asp.net+c#)
- BBS论坛基于jsp+mysql技术
免责申明
【只为小站】的资源来自网友分享，仅供学习研究，请务必在下载后24小时内给予删除，不得用于其他任何用途，否则后果自负。基于互联网的特殊性，【只为小站】 无法对用户传输的作品、信息、内容的权属或合法性、合规性、真实性、科学性、完整权、有效性等进行实质审查；无论 【只为小站】 经营者是否已进行审查，用户均应自行承担因其传输的作品、信息、内容而可能或已经产生的侵权或权属纠纷等法律责任。
本站所有资源不代表本站的观点或立场，基于网友分享，根据中国法律《信息网络传播权保护条例》第二十二条之规定，若资源存在侵权或相关问题请联系本站客服人员，zhiweidada#qq.com，请把#换成@，本站将给予最大的支持与配合，做到及时反馈和处理。关于更多版权及免责申明参见 版权及免责申明
本站所有资源不代表本站的观点或立场，基于网友分享，根据中国法律《信息网络传播权保护条例》第二十二条之规定，若资源存在侵权或相关问题请联系本站客服人员，zhiweidada#qq.com，请把#换成@，本站将给予最大的支持与配合，做到及时反馈和处理。关于更多版权及免责申明参见 版权及免责申明