Modification of ORB SLAM 2 by Mur-Artal et. al.

• Concurrent construction of and localization in grid map in seperate thread.
  • Adapting the grid mapping algorithm by Singh and Jahani to run in a fourth thread of OS2 and publish a ROS OccupancyGrid message.

Changelog and Additions:

• Tested under Ubuntu 20.04
• PR #970 implemented: Support for OpenCV 4 (tested with OpenCV 4.5.4)
• Support for C++11 and higher implemented (tested with GCC 9.3.0)
  • Pangolin v0.6 now supported
  • Eigen 3.4 supported
• Camera calibration using the ROS calibration toolbox
• Map saving and loading thanks to Alkaid Benetnash

Related Publications:

[Monocular] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. ORB-SLAM: A Versatile and Accurate Monocular SLAM System. IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics Best Paper Award). PDF.

[Stereo and RGB-D] Raúl Mur-Artal and Juan D. Tardós. ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras. IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1255-1262, 2017. PDF.

[DBoW2 Place Recognizer] Dorian Gálvez-López and Juan D. Tardós. Bags of Binary Words for Fast Place Recognition in Image Sequences. IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1188-1197, 2012. PDF