Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor
https://arxiv.org/abs/2203.08182
VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/
KITTI Odom
TartanAir https://theairlab.org/tartanair-dataset/
Sample realsense data at
https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0
https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0
This is a ros package, just put in a catkin workspace and build the workspace.
Open rviz using the config in launch/dsol.rviz
roslaunch dsol dsol_data.launch
See launch files for more details on different datasets.
See config folder for details on configs.
To run multithread and show timing every 5 frames do
roslaunch dsol dsol_data.launch tbb:=1 log:=5
See CMakeLists.txt for dependencies.
For reproducing the results in the paper, place use the iros22 branch.
This is the open-source version, advanced features are not included.