Alejandro Fontan · Tobias Fischer · Javier Civera · Michael Milford

If you haven't installed pixi yet, please run the following command in your terminal:

curl -fsSL https://pixi.sh/install.sh | bash

After installation, restart your terminal or source your shell for the changes to take effect. For more details, refer to the pixi documentation.

If you already have pixi remember to update: pixi self-update

Clone the repository and navigate to the project directory:

git clone https://github.com/alejandrofontan/AllFeature-VSLAM.git --recursive && cd AllFeature-VSLAM

Build and run demo

pixi run build && pixi run demo

AllFeature-VSLAM builds on ORB-SLAM2 and inherits its release under a GPLv3 license. For a list of all other code/library dependencies (and associated licenses), please see Dependencies.md.

Acknowledgments to: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel (ORB-SLAM2), Dorian Galvez-Lopez (DBoW2), Carlos Campos, Richard Elvira and Juan J. Gómez Rodríguez (ORB-SLAM3).

[AnyFeature-VSLAM] Alejandro Fontan, Javier Civera and Michael Milford, Automating the Usage of Any Chosen Feature into Visual SLAM, Robotics: Science and Systems, 2024. PDF.

[ORB-SLAM3] Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M. M. Montiel and Juan D. Tardós, ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM, IEEE Transactions on Robotics 37(6):1874-1890, Dec. 2021. PDF.

[ORB-SLAM2] Raúl Mur-Artal and Juan D. Tardós. ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras. IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1255-1262, 2017. PDF.

[ORB-SLAM] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF.

[DBoW2 Place Recognizer] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF