├── CMakeLists.txt
├── README.md
├── examples
├── EuRoC.yaml
└── euroc_timestamps
│ ├── MH01.txt
│ ├── MH02.txt
│ ├── MH03.txt
│ ├── MH04.txt
│ ├── MH05.txt
│ ├── V101.txt
│ ├── V102.txt
│ ├── V103.txt
│ ├── V201.txt
│ ├── V202.txt
│ └── V203.txt
├── img
└── overview.png
├── include
├── ConfigManager.h
├── PlaneExtractor.h
└── triangle.h
├── main.cpp
└── src
├── ConfigManager.cpp
├── PlaneExtractor.cpp
└── triangle.cpp
/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.10)
2 | project(RSS_PE)
3 |
4 | set(CMAKE_CXX_STANDARD 17)
5 | set(CMAKE_CXX_STANDARD_REQUIRED ON)
6 |
7 | if(NOT CMAKE_BUILD_TYPE)
8 | set(CMAKE_BUILD_TYPE "Release")
9 | endif()
10 |
11 | set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} \
12 | -O3 \
13 | -march=native \
14 | -funroll-loops \
15 | -ffast-math \
16 | -funsafe-math-optimizations \
17 | -msse2 \
18 | -DNDEBUG")
19 |
20 | find_package(OpenCV REQUIRED)
21 | find_package(Eigen3 3.1.0 REQUIRED)
22 | find_package(PCL 1.7 REQUIRED)
23 |
24 | include_directories(
25 | ${PROJECT_SOURCE_DIR}/include
26 | ${OpenCV_INCLUDE_DIRS}
27 | ${EIGEN3_INCLUDE_DIR}
28 | ${PCL_INCLUDE_DIRS}
29 | )
30 |
31 | add_executable(rss_pe
32 | main.cpp
33 | src/PlaneExtractor.cpp
34 | src/ConfigManager.cpp
35 | src/triangle.cpp
36 | )
37 |
38 | target_link_libraries(rss_pe
39 | ${OpenCV_LIBS}
40 | ${PCL_LIBRARIES}
41 | )
42 |
--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # RSS: Robust Stereo SLAM with Novel Extraction and Full Exploitation of Plane Features
2 |
3 | ## Introduction
4 |
5 | This repository provides the **open-source plane extraction algorithm** of **RSS**, a novel point-plane-based stereo SLAM system that fully leverages plane features to enhance accuracy and robustness. The algorithm performs **real-time plane extraction** using only a pair of stereo images and can be easily integrated into existing stereo-based SLAM frameworks to introduce plane constraints. For technical details and experimental results, please refer to our [paper](https://ieeexplore.ieee.org/document/10500826).
6 |
7 |
8 |
9 |