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LSD-SLAM: Large-Scale Direct Monocular SLAM

LSD-SLAM is a novel approach to real-time monocular SLAM. It is fully direct (i.e. does not use keypoints / features) and creates large-scale, semi-dense maps in real-time on a laptop. For more information see where you can also find the corresponding publications and Youtube videos, as well as some example-input datasets, and the generated output as rosbag or .ply point cloud.

This fork contains a version that relieves the user of the horrors of a ROS dependency and uses the much nicer lightweight Pangolin framework instead.

Related Papers

  • LSD-SLAM: Large-Scale Direct Monocular SLAM, J. Engel, T. Schöps, D. Cremers, ECCV '14

  • Semi-Dense Visual Odometry for a Monocular Camera, J. Engel, J. Sturm, D. Cremers, ICCV '13

1. Quickstart / Minimal Setup

Requires OpenCV (with nonfree if you want FABMAP), Boost, Eigen, Pangolin and g2o. Tested on 14.04 without any problems.

2. Installation

Install everything from apt repos if you can, otherwise there are githubs for Pangolin and g2o. Then usual cmake building process.

3. Running

Supports raw PNG images. For example, you can down any dataset from here in PNG format, and run like;

./LSD -c ~/Mono_Logs/LSD_machine/cameraCalibration.cfg -f ~/Mono_Logs/LSD_machine/images/

4. License

LSD-SLAM is licensed under the GNU General Public License Version 3 (GPLv3), see