Visual SLAM with sparse bundle adjustment
- Author: Kurt Konolige, Patrick Mihelich, Helen Oleynikova
- License: BSD,Public Domain,LGPL,LGPL/GPL
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/vslam/trunk
vslam is experimental research code. It is not actively being supported, and should be used at your own risk, but patches are welcome.
If you would like a robust method of localization and mapping with a stereo camera or kinect, use the 2D slam_gmapping stack. See the pointcloud_to_laserscan package from the turtlebot stack and the SLAM Gmapping with Kinect Tutorial for the turtlebot.
There are two ways to install vslam. If you want to use vslam without modifying it, it is available as a debian package under diamondback or unstable:
$ sudo apt-get install ros-diamondback-vslam
If you want to modify the source code, you can install it from source as an overlay to diamondback or unstable. Make a new directory VSLAMDIR under the current directory, and download the source:
# Download vslam sources $ svn co https://code.ros.org/svn/ros-pkg/stacks/vslam/trunk VSLAMDIR # Set up environment $ . VSLAMDIR/setup.sh # Build $ rosmake --rosdep-install vslam_system
This checks out the new packages under VSLAMDIR; you can of course have VSLAMDIR anywhere in your filesystem tree. The setup.sh file puts VSLAMDIR into $ROS_PACKAGE_PATH (if you are unclear on what this means, refer to the Stack Installation Tutorial ) or add path as