*** SLSLAM *** * Guoxuan Zhang, * Jin Han Lee, Jongwoo Lim, Il Hong Suh * Equal contribution This code implements a Stereo Line-based SLAM (SLSLAM) presented in "Building a 3D Line-based Map Using a Stereo SLAM," IEEE Transactions on Robotics. Dependencies: Ceres-solver 1.7.0, OpenCV 2.4.10, Google Flags 2.1.0, Google Logging 0.0.0, OpenGL, GLFW All dependencies should be installed in your system beforehand. This code has been tested only on 64-bit linux (Ubuntu 12.04 and 14.04) systems. First download the code: $ git clone https://github.com/slslam/slslam.git $ cd slslam Make a directory for datasets $ mkdir data Then download a zipped dataset file from: https://drive.google.com/file/d/0B3bB8rHbc3fWNGQ3YnhLczIwNG8/view?usp=sharing and copy it to ${source_root_dir}/data. $ cd data $ unzip data.zip $ cd .. $ mkdir build && cd build $ cmake .. $ make $ ./slslam_it3f $ ./slslam_olympic4f $ ./slslam_myungdong * Currently, line detection, tracking, and loop closure detection modules are not included due to license problem with a project supported by Korean government.