Research on Event Accumulator Settings for Event-Based SLAM

This is the source code for paper "Research on Event Accumulator Settings for Event-Based SLAM". For more details please refer to https://arxiv.org/abs/2112.00427

1. Prerequisites

See dv_ros and VINS-Fusion

2. Build

cd ~/catkin_ws/src
git clone https://github.com/robin-shaun/event-slam-accumulator-settings.git
cd ../
catkin_make 
source ~/catkin_ws/devel/setup.bash

3. Demo

We evaluate the proposed method quantitatively on the Event Camera Dataset. This demo takes the dynamic_6dof sequence as example.

First, start dv_ros. Notice that the event accumulator depends on the timestamp, so when you restart the dataset or davis driver, you should restart dv_ros.

roslaunch dv_ros davis240.launch

And then, start VINS-Fusion

roslaunch vins vins_rviz.launch

rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/davis/rpg_240_mono_imu_config.yaml

Finally, play the rosbag

cd ~/catkin_ws/src/event-slam-accumulator-settings/dataset
rosbag play dynamic_6dof.bag

4. Run with your devices

We have tested the code with DAVIS240 and DAVIS346. If you want to run with your devices, the most important thing to do is calibrate the event camera and imu. We advise to use Kalibr with traditional image from APS and IMU, because the intrinsics and extrinsics are almost the same for APS and DVS.

If you want to compare the event-based VINS Fusion with traditional VINS Fusion with DAVIS346, you should use this code. Because the frame from APS of DAVIS346 sometimes changes the size, we do some modification for VINS-Fusion.

5. Acknowledgements

Thanks for dv_ros and VINS-Fusion.