RT-SLAM

RT-SLAM stands for Real Time SLAM (Simultaneous Localization And Mapping).

Disclaimer: RT-SLAM is currently in development and has no official release. It is provided as-is, there is no standalone installation, and it is generally not advised (yet) to people who do not want to get their hands dirty.

Presentation

RT-SLAM is a fast Slam library and test framework based on EKF. Its main qualities are:

• genericity: for sensor models, landmark types, landmark models, landmarks reparametrization, biases estimation;

• speed: real time at 60 fps, VGA, gray level;

• flexibility: different estimation/image processing sequencing strategies (active search), independent base brick for a hierarchical multimap and multirobots architecture;

• robustness: near-optimal repartition of landmarks, data association errors detection (gating, ransac);

• developer-friendly: visualization tools (2D and 3D), offline replay step by step, logs, simulation.

For now it provides:

• Landmarks: Anchored Homogeneous Points (Inverse Depth) that can be reparametrized into Euclidean Points;

• Sensors: Pinhole cameras;

• Prediction: Constant velocity model;

• Data association: Active search, 1-point Ransac, and mixed strategies.

Documentation

• Installation guide

• User guide

• Developer guide

• Contact: jafar@laas.fr, cyril.roussillon@laas.fr

Screenshots and videos

• Demo 1 (v.a, 1'33, 23Mo, H264 AVI): hand held alone camera at 60 fps indoor, with several loop closures.

• Demo 2 (v.b, 1'06, 20Mo, H264 AVI): hand held IMU+camera at 50 fps indoor, with very high dynamic.

• Demo 3 (v.a, 1'25, 27Mo, H264 AVI): IMU+camera on a rover robot on grass, with short term memory (lost landmarks are removed, no loop closure)

• Additional videos referenced in papers

Roadmap

• Stabilize and make a release
• Inertial Slam
• Odometry Slam
• Multimap Slam
• Segments Slam

Authors

• Joan Solà

• Cyril Roussillon

• Aurélien Gonzalez

• Nicolas Mansard

• Jean-Marie Codol