├── .gitignore ├── LICENSE ├── Presentation.pdf ├── README.md ├── config ├── camera_info.txt ├── euroc.yaml ├── nuance_car.yaml ├── nuance_specs.txt └── realsense.yaml ├── ground_truth ├── analysis.ipynb ├── data │ ├── path1_gps.csv │ └── path1_imu.csv └── plots │ ├── path1_accel.png │ ├── path1_ang_vel.png │ ├── path1_gps_dt_vs_time.png │ ├── path1_imu_dt_vs_time.png │ ├── path1_northing_rel_vs_easting_rel.png │ └── path1_orientation.png ├── nuance_checklist.md ├── results ├── data │ ├── f_dataset-MH01_mono.txt │ ├── f_dataset_car_new_mono_1.txt │ ├── f_dataset_car_new_mono_2.txt │ ├── f_isec_ramp.txt │ ├── f_kevin_room_mono.txt │ ├── kf_dataset-MH01_mono.txt │ ├── kf_dataset_car_new_mono_1.txt │ ├── kf_dataset_car_new_mono_2.txt │ ├── kf_isec_ramp.txt │ └── kf_kevin_room_mono.txt ├── plot_traj.ipynb └── plots │ ├── f_dataset-MH01_mono.png │ ├── f_dataset_car_new_mono_1.png │ ├── f_dataset_car_new_mono_2.png │ ├── f_isec_ramp.png │ ├── f_kevin_room_mono.png │ ├── kf_dataset-MH01_mono.png │ ├── kf_dataset_car_new_mono_1.png │ └── kf_dataset_car_new_mono_2.png └── scripts ├── convert_images.py ├── create_timestamps.py ├── realsense.sh └── run_orbslam.sh /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/LICENSE -------------------------------------------------------------------------------- /Presentation.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/Presentation.pdf -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/README.md -------------------------------------------------------------------------------- /config/camera_info.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/config/camera_info.txt -------------------------------------------------------------------------------- /config/euroc.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/config/euroc.yaml -------------------------------------------------------------------------------- /config/nuance_car.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/config/nuance_car.yaml -------------------------------------------------------------------------------- /config/nuance_specs.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/config/nuance_specs.txt -------------------------------------------------------------------------------- /config/realsense.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/config/realsense.yaml -------------------------------------------------------------------------------- /ground_truth/analysis.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/ground_truth/analysis.ipynb -------------------------------------------------------------------------------- /ground_truth/data/path1_gps.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/ground_truth/data/path1_gps.csv -------------------------------------------------------------------------------- /ground_truth/data/path1_imu.csv: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/ground_truth/data/path1_imu.csv -------------------------------------------------------------------------------- /ground_truth/plots/path1_accel.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/ground_truth/plots/path1_accel.png -------------------------------------------------------------------------------- /ground_truth/plots/path1_ang_vel.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/ground_truth/plots/path1_ang_vel.png -------------------------------------------------------------------------------- /ground_truth/plots/path1_gps_dt_vs_time.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/ground_truth/plots/path1_gps_dt_vs_time.png -------------------------------------------------------------------------------- /ground_truth/plots/path1_imu_dt_vs_time.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/ground_truth/plots/path1_imu_dt_vs_time.png -------------------------------------------------------------------------------- /ground_truth/plots/path1_northing_rel_vs_easting_rel.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/ground_truth/plots/path1_northing_rel_vs_easting_rel.png -------------------------------------------------------------------------------- /ground_truth/plots/path1_orientation.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/ground_truth/plots/path1_orientation.png -------------------------------------------------------------------------------- /nuance_checklist.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/nuance_checklist.md -------------------------------------------------------------------------------- /results/data/f_dataset-MH01_mono.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/data/f_dataset-MH01_mono.txt -------------------------------------------------------------------------------- /results/data/f_dataset_car_new_mono_1.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/data/f_dataset_car_new_mono_1.txt -------------------------------------------------------------------------------- /results/data/f_dataset_car_new_mono_2.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/data/f_dataset_car_new_mono_2.txt -------------------------------------------------------------------------------- /results/data/f_isec_ramp.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/data/f_isec_ramp.txt -------------------------------------------------------------------------------- /results/data/f_kevin_room_mono.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/data/f_kevin_room_mono.txt -------------------------------------------------------------------------------- /results/data/kf_dataset-MH01_mono.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/data/kf_dataset-MH01_mono.txt -------------------------------------------------------------------------------- /results/data/kf_dataset_car_new_mono_1.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/data/kf_dataset_car_new_mono_1.txt -------------------------------------------------------------------------------- /results/data/kf_dataset_car_new_mono_2.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/data/kf_dataset_car_new_mono_2.txt -------------------------------------------------------------------------------- /results/data/kf_isec_ramp.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/data/kf_isec_ramp.txt -------------------------------------------------------------------------------- /results/data/kf_kevin_room_mono.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/data/kf_kevin_room_mono.txt -------------------------------------------------------------------------------- /results/plot_traj.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/plot_traj.ipynb -------------------------------------------------------------------------------- /results/plots/f_dataset-MH01_mono.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/plots/f_dataset-MH01_mono.png -------------------------------------------------------------------------------- /results/plots/f_dataset_car_new_mono_1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/plots/f_dataset_car_new_mono_1.png -------------------------------------------------------------------------------- /results/plots/f_dataset_car_new_mono_2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/plots/f_dataset_car_new_mono_2.png -------------------------------------------------------------------------------- /results/plots/f_isec_ramp.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/plots/f_isec_ramp.png -------------------------------------------------------------------------------- /results/plots/f_kevin_room_mono.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/plots/f_kevin_room_mono.png -------------------------------------------------------------------------------- /results/plots/kf_dataset-MH01_mono.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/plots/kf_dataset-MH01_mono.png -------------------------------------------------------------------------------- /results/plots/kf_dataset_car_new_mono_1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/plots/kf_dataset_car_new_mono_1.png -------------------------------------------------------------------------------- /results/plots/kf_dataset_car_new_mono_2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/results/plots/kf_dataset_car_new_mono_2.png -------------------------------------------------------------------------------- /scripts/convert_images.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/scripts/convert_images.py -------------------------------------------------------------------------------- /scripts/create_timestamps.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/scripts/create_timestamps.py -------------------------------------------------------------------------------- /scripts/realsense.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/scripts/realsense.sh -------------------------------------------------------------------------------- /scripts/run_orbslam.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kevin-robb/orb_slam_implementation/HEAD/scripts/run_orbslam.sh --------------------------------------------------------------------------------