(Work in Progress) SuperSLAM is a deep learning based visual SLAM system that combines recent advances in learned feature detection and matching with the mapping capabilities of ORB_SLAM2.
It utilizes SuperPoint for keypoint detection and description and SuperGlue for robust feature matching between frames. These matches are then used by ORB_SLAM2 to estimate camera poses and build a map of the environment.
- CUDA==11.6
- TensorRT==8.4.1.5
- OpenCV>=4.0
- Eigen
- yaml-cpp
- DBoW3
- DBoW2
git clone https://github.com/adityamwagh/SuperSLAM.git
cd SuperSLAM
sh ./build.sh
The default image size param is 320x240, if you need to modify the image size in the config file, you should delete the old .engine file in the weights dir.