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Mono-VINS-DenseMapping (VINS-MONO+quadtree_mapping,仅供个人学习记录用)

Original Github of VINS-MONO | Original Github of open_quadtree_mapping | Testing Dataset


Developer: Guan Weipeng, Chen Peiyu


  • 为了方便本人使用，对代码做了修改(适配ubuntu20.04)，源码请参见原github仓库~
  • 创建工作空间，然后catkin_make即可（运行前记得source一下）
  roslaunch open_quadtree_mapping example.launch

测试demo（可实现单目实时的稠密重建）

添加了TSDF-based Map Fusion

  roslaunch open_quadtree_mapping example_hku_globalmapping.launch

teaser

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单目VIO+实时单目稠密三维重建

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