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README.md~
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# Jetson-SLAM
**More updates coming soon**
**To be done:**
### 1. Update exec folder
**The frontend of Jetson-SLAM will be released as a separate repository as-well.**
**Authors:** Ashish Kumar
This repository contains Jetson-SLAM with [FULL-BA back-end](https://128.84.21.199/pdf/1610.06475.pdf)
Jetson-SLAM is a GPU-thrusted real-time SLAM library for **Monocular**, **Stereo** and **RGB-D** cameras. It can run very high speeds beyond **500FPS** on RTX-2070 and Beyond **90FPS** on Jetson-NX **@320x240** resolution. Please see the [Jetson-SLAM Paper](https://drive.google.com/file/d/1KagYH0YVSDOeBwv4oHyKrmndOF7Sc_TV/view?usp=drive_link) for rigorous results over different resolutions, GPUs and comparison with existing VO/VIO/SLAM pipelines.
**Jetson-SLAM can run alongside Deep Neural Networks. It is fully behchmarked with VGG**
# Video
<p align="center">
<a href="https://drive.google.com/file/d/16FN0FKy76R6MBdu44WzHyH3KstruOeJT/view?usp=drive_link" target="_blank" ><img align="center" src="/assets/img/video_thumbnail.png"
alt="Jetson-SLAM" width="70%" height="70%" border="0" /></a>
</p>
<div>
<p align="center">
<img align="center" src="/assets/gif/kaistvio_circle.gif"
alt="Jetson-SLAM" width="50%" height="50%" border="0" />
</p>
# Main Highlight
<p align="center">
<img align="center" src="/assets/img/fig1.png"
alt="Jetson-SLAM" width="70%" height="70%" border="0" />
# 1. Main Results
### Datasets
1. [KITTI-Benchmark](https://github.com/zinuok/VINS-MONO)
2. [EuRoC Benchmark](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets)
3. [KAIST-VIO Benchmark](https://github.com/url-kaist/kaistviodataset)
#### Results on KITTI Benchmark
#### Results on EuRoC Benchmark
#### Results on KAIST-VIO Benchmark
#### Performance with scaled versions of VGG-16 Co-existing on Jetson-NX
### Build Instructions
**Step-1**
Install the dependencies given below:
1. OpenCV 3
2. Eigen3
3. CUDA
4. Pangolin
**Step-2**
Run build.sh
### Run Instructions
Go to execs and run Jetson-SLAM on following choices:
1. Run stereo_kitti for KITTI-Benchmark
2. Run stereo_euroc for EuRoC Benchmark
3. Run stereo_kaistvio for KAIST-VIO Benchmark
4. Run stereo_live for live images from a Stereo-Rig. Please customize the "stereo_live_config.yaml" file for your stereo rig.
### License
Jetson-SLAM is released under a [GPLv3 license].
### Bibtex citation:
@article{Jetson-SLAM,
title={{High-Speed Stereo Visual-{SLAM} For Low-Powered Computing Devices},
author={Kumar, Ashish and Park, Jaesik and Behera, Laxmidhar},
year={2023},
}