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About the developer

ydsf16
164 Stars 75 Forks GNU General Public License v3.0 21 Commits 1 Opened issues

Description

ArUco-based EKF-SLAM.

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ArUco-based EKF-SLAM.

image

For details, please refer to:https://zhuanlan.zhihu.com/p/45207081

Dataset:https://pan.baidu.com/s/1EX9CYmdEUR2BJh7v5dTNfA

Prerequisites

Opencv 3.1, Eigen, ROS

Demo

STEP 1. Download the repository to your ROS workspace:catkin_ws/src

STEP 2. Make:catkin_make

STEP 3. Run launch: roslaunch arucoekfslam slam.launch

STEP 4. Play a rosbag: rosbag play arucoslamdata_qhd1.bag -r 5

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