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All Projects → iitmcvg → Cnn_slam

iitmcvg / Cnn_slam

CNN SLAM implementation of https://arxiv.org/abs/1704.03489

Programming Languages

python
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README

Updated: 4th October 2018.

Computer Vision and Intelligence Group, IIT Madras

Blog: iitmcvg.github.io

This repository contains content that we use for CNN SLAM. Original paper

Contributors

Table of Contents

  1. Download Monodepth Checkpoints
  2. Using Monodepth Infer
  3. Install g2o

Experiments

  1. Heterogenous graphs; convert every CPU op into a compute graph and note performance with placement.
  2. Stereo matching methods and GPU optimisation.
  3. CPU efficient object detectors and depth estimators.
  4. Indoor optimised depth estimation (monocular.)

To Do

  • [x] Complete camera pose estimation.
  • [ ] Monocular depth methods library.
  • [ ] Freeze graphs for inference.
  • [ ] Sample runs.
  • [ ] Global Graph Optimisation.

G3docs

Monodepth checkpoints

References

  1. Python Bindings for LSD SLAM
  2. LSD SLAM
  3. Python Bindings for ORB SLAM 2
  4. ORB SLAM
  5. DSO SLAM
  6. A SLAM Primer
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