/TES-CVIDS

A transmission efficient sub-map based collaborative dense VI-SLAM framework

Primary LanguageC++GNU General Public License v3.0GPL-3.0

TES-CVIDS: A Transmission Efficient Sub-map based Collaborative Dense VI-SLAM Framework

1. Prerequisites

We have tested the library in Ubuntu 16, but it should be easy to compile in other platforms.

C++11 or C++0x Compiler

We use the new thread and chrono functionalities of C++11.

ROS-Kinetic

CVIDS is implemented based on ROS-Kinetic. More details can be found in http://wiki.ros.org/kinetic/Installation.

Sophus

This is an Lie algebra library. More details can be found in https://github.com/strasdat/Sophus.

OpenCV

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. We use 3.4.1, but it should also work for other version at least 3.0.

Eigen3

Download and install instructions can be found at: http://eigen.tuxfamily.org.

ceres-solver

We use ceres library to perform non-linear optimizations.