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V-SLAM using ZED running under Nvidia TX2. current algorithm is ORB_SLAM2 with RGB-D input

Hardware:

  • Jetson TX2
  • ZED Camera

Software:

  • Ubuntu 16.0.4
  • ROS Kinetic

Dependencies:

  • Jetson TX2(with a 750 GB SSD. the way to install it is will update later)
  • ORB SLAM2 - Installed from the instruction here.
  • ZED Stereo Camera - copy ./zed/src/zed-ros-wrapper to your catkin workspace folder and catkin_make it

Running the code

  • first untar the ORBvoc.txt in ./SLAM/ORB_SLAM2/Vocabulary
  • source setup.bash under your catkin workspace
  • roslaunch zed_wrapper zed.launch
  • cd ./SLAM/ORB_SLAM2
  • rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/Zed.yaml

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V-SLAM using ZED running under Nvidia TX2. current algorithm is ORB_SLAM2 with RGB-D input

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