ydsf16 / Aruco_ekf_slam
Licence: gpl-3.0
ArUco-based EKF-SLAM.
Stars: ✭ 142
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ArUco-based EKF-SLAM.
For details, please refer to：https://zhuanlan.zhihu.com/p/45207081
Dataset：https://pan.baidu.com/s/1EX9CYmdEUR2BJh7v5dTNfA
Prerequisites
Opencv 3.1, Eigen, ROS
Demo
STEP 1. Download the repository to your ROS workspace：catkin_ws/src
STEP 2. Make：catkin_make
STEP 3. Run launch: roslaunch aruco_ekf_slam slam.launch
STEP 4. Play a rosbag: rosbag play aruco_slam_data_qhd1.bag -r 5
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