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SuperSLAM: Open Source Framework for Deep Learning based Monocular Visual SLAM

(Work in Progress) Very early stage development that I do in my free time now. This might break once in a while.

SuperSLAM is a deep learning based visual SLAM system that combines recent advances in learned feature detection and matching with the mapping capabilities of ORB_SLAM2.

It utilizes SuperPoint for keypoint detection and description and SuperGlue for robust feature matching between frames. These matches are then used by ORB_SLAM2 to estimate camera poses and build a map of the environment.

One of the future goals is to eventually replace the ORB_SLAM2 backend with a more modern and performant implementation and also release the code under a MIT Licence.

Environment required

  • CUDA==11.6
  • TensorRT==8.4.1.5
  • OpenCV>=4.0
  • Eigen
  • yaml-cpp
  • DBoW3
  • DBoW2
  • Ubuntu 20.04

Installation

Clone the repository and the submodules.

git clone https://github.com/adityamwagh/SuperSLAM.git --recursive
cd SuperSLAM

Automatically Install Dependencies

sh ./build_dependencies.sh

You can use the included script to build the dependencies or install using the APT package manager.

Manually Install Dependencies

# OpenCV
sudo apt-get install -y libopencv-dev

# Eigen

sudo apt install libeigen3-dev

# Pangolin

git clone --recursive https://github.com/stevenlovegrove/Pangolin.git

# Pangolin is split into a few components so you can include just what you need. Most dependencies are optional so you can pick and mix for your needs.
# Rather than enforcing a particular package manager, you can use a simple script to generate a list of (required, recommended or all) packages for installation for that manager (e.g. apt, port, brew, dnf, pacman, vcpkg):

# See what package manager and packages are recommended
./scripts/install_prerequisites.sh --dry-run recommended

# install recommended prerequisites for pangolin
./scripts/install_prerequisites.sh recommended

# Configure and build
cmake -B build
cmake --build build

# with Ninja for faster builds (sudo apt install ninja-build)
cmake -B build -GNinja
cmake --build build

Usage

# Configure and build
cmake -B build
cmake --build build

# with Ninja for faster builds (sudo apt install ninja-build)
cmake -B build -GNinja
cmake --build build

Acknowledgements

Lot of code is borrowed from these repositories. Thanks to the authors for opensourcing them!