super-vio

a simple vio project.

1. Front-End: SuperPoint and SuperGlue
2. Back-End: g2o

Result

• 1. SuperPoint and SuperGlue, video on Bilibili: click here

Build

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/Nothand0212/super-vio.git
cd ..
catkin_make

Run

roslaunch super_vio offline.launch

or

roslaunch super_vio run_kitti.launch

Doing

• 1. Mapping with SuperPoint and SuperGlue

History

• 2024-03-20:
  • 1. reconstruct project structure
• 2024-03-19:
  • 1. add Triangulate test
  • 2. add kitti dataset test
• 2024-03-11:
  • 1. change to ROS rviz visualization
  • 2. fix exactor bugs
• 2024-03-08:
  • 1. add offline_node
  • 2. change run logic
• 2024-03-05:
  • 1. add Frame, MapPoint
  • 2. add Triangulate
  • 3. add cammera_runner test

参考

• SuperPoint/LightGlue
• LightGlue-ONNX
• LightGlue-Onnx-cpp: C++版本的LightGlue-ONNX运行器，支持Ubuntu
• GTSAM