PySlam

PySlam is a python SLAM implementation with design decisions driven from ORB SLAM 1&2 ORB SLAM2. Build using Python3, Pangolin, and OpenCV.

Getting Started

With the installed dependencies and prerequisites, running PiSLAM is as simple as

python PiSLAM -i /path/to/sequence

in local sequence mode, or

python PiSLAM -r

in network SLAM mode, followed by launching piVideoStream.py file with modified PORT and IP addresses, like

python rpi/piVideoStream.py

NOTE: To view PiSLAMs command line arguments, run

python PiSLAM --help

Prerequisites

Tested on Ubuntu 20.04

Python 3.7.0/3.8.5

Python Pangolin bindings built and installed (see Built With section)

Requirements can be found in requirements.txt

Installing

pip install -r requirements.txt

Built With

• Opencv
• Pangolin

Authors

• Lucas Keller & Ian Gluesing - Related work - ORB SLAM2

Acknowledgments

• Inspiration : HCI 575 : Computational Perception final project