ORB-SLAM3 on iPhone
ORB-SLAM3 is a state-of-the-art visual SLAM. This feature-based SLAM creates a sparse mapping and gives accurate localization. Also, it contains modules such as place recognition, loop detection, bundle adjustment, etc. The process is divided into three phases: short-term phase, medium-phase, and long-term phase. However, it is hard to access ORB-SLAM for users who are not familiar with Linux, computer vision, and Github. At the same time, the hardware like Realsense camera and IMU that ORBSLAM requires are hard to access. We create a streaming layer between iPhone and ORBSLAM on Ubuntu, so that everyone can play with the state-of-the-art SLAM via iPhone and a PC with pre-installed ORB-SLAM.
This is a final project for course EECE5554: Robotics: Navigation and Sensing in Northeastern University. It is developed by Chenghao Wang, Meishan Li, Mingxi Jia and Me.
More about this project is in this GitLab Page. Link Here.
Apr 26, 2023
