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Software
LSD-SLAM is available on github:https://github.com/tum-vision/lsd_slam
We currently support only ROS-based build system using Ubuntu 12.04 or 14.04 and ROS Indigo or Fuerte. Detailled installation and usage instructions can be found in the README.md, including descriptions of the most important parameters.
If you use our code, please cite our respective publications (see below). We are excited to see what you do with LSD-SLAM, if you want drop us a quick hint if you have nice videos / pictures / models / applications.
Contributing
We welcome contributions to LSD-SLAM, from isolated bugfixes over partial improvements or fully new functionalities.
Datasets
To get you started, we provide some example sequences including the input video and camera calibration, the complete generated pointcloud to be displayed with thelsd_slam_viewer, as well as a (sparsified) pointcloud as .ply, which can be displayed e.g. using meshlab.
Hint: Use rosbag play -r 25 X_pc.bag while the lsd_slam_viewer is running to replay the result of real-time SLAM at 25x speed, building up the full reconstruction whithin seconds.
- Desk Sequence (0:55min, 640x480 @ 50fps)
- Video: [.bag] [.png]
- Machine Sequence (2:20min, 640x480 @ 50fps)
- Download Video: [.bag] [.png]
- Foodcourt Sequence (12min, 640x480 @ 50fps)
- Download Video: [.bag] [.png]
- ECCV Sequence (7:00min, 640x480 @ 50fps)
- Video: [.bag] [.png]
