# Ultimate SLAM

**Repository Path**: stancy_sun/ultimate_slam

## Basic Information

- **Project Name**: Ultimate SLAM
- **Description**: 在VINS-Mono框架下复现论文Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios
- **Primary Language**: C++
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 4
- **Forks**: 1
- **Created**: 2022-01-30
- **Last Updated**: 2024-04-15

## Categories & Tags

**Categories**: Uncategorized

**Tags**: Event-Camera

## README

# Ultimate SLAM

#### 介绍
在VINS-Mono框架下复现论文Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios

#### 软件架构
![](./src/ultimate_slam/support_files/rosgraph.png)


#### 安装教程

同VINS-Mono，catkin_make即可

#### 使用说明

以rpg事件相机数据集https://rpg.ifi.uzh.ch/davis_data.html为例：

`roslaunch vins_estimator flyingroom.launch`

`rosbag play boxes_6dof.bag`