PE-SLAM: An Online Visual-Inertial SLAM with Efficient IMU Initialization

1. Prerequisties

We have tested the library in Ubuntu 18.04 and Ubuntu 20.04, but it should be easy to compile in other Linux systems.

Pangolin

It is same as ORB-SLAM3.

OpenCV

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 3.0. Tested with OpenCV 3.2.0(Ubuntu 18.04) and 4.2.0(Ubuntu 20.04).

Eigen3

Required by g2o. Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0. Tested with Eigen 3.3.7.

Ceres-solver

Follow Ceres Installation, use version 1.14.0 and remember to sudo make install.

TBB

Intel Threading Building Blocks(TBB) is used to accelerate the Tracking thread. We use parallel computation for acceleration in parts such as feature point extraction.

git clone https://github.com/wjakob/tbb.git
mkdir build
cd build
cmake ..
make -j
sudo make install

or

sudo apt-get install libtbb-dev

2. Build PE-SLAM library and examples

Clone the repository:

git clone https://github.com/HJMGARMIN/PE-SLAM.git

We provide a script build.sh to build the Thirdparty libraries and ORB-SLAM3. Please make sure you have installed all required dependencies (see section 1). Execute:

cd PE-SLAM
chmod +x build.sh
./build.sh