Slam Algorithms

1. ORB-SLAM3 Configuration

Configure ORB-SLAM3 for different sensor configurations:

# orb_slam3_config.yaml
%YAML:1.0

# Camera Parameters (Monocular/Stereo)
Camera.type: "PinHole"
Camera.fx: 458.654
Camera.fy: 457.296
Camera.cx: 367.215
Camera.cy: 248.375
Camera.k1: -0.28340811
Camera.k2: 0.07395907
Camera.p1: 0.00019359
Camera.p2: 1.76187114e-05

# Camera resolution
Camera.width: 752
Camera.height: 480
Camera.fps: 20.0

# Stereo parameters
Camera.bf: 47.90639384423901  # baseline * fx

# RGB-D parameters
DepthMapFactor: 1.0
ThDepth: 35.0  # depth threshold

# ORB Extractor
ORBextractor.nFeatures: 1200
ORBextractor.scaleFactor: 1.2
ORBextractor.nLevels: 8
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7

# IMU Parameters (for VI-SLAM)
IMU.NoiseGyro: 1.7e-4
IMU.NoiseAcc: 2.0e-3
IMU.GyroWalk: 1.9e-5
IMU.AccWalk: 3.0e-3
IMU.Frequency: 200

# Viewer parameters
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

Launch ORB-SLAM3:

# Monocular
ros2 run orb_slam3_ros orb_slam3_mono \
  --ros-args -p vocabulary:=/path/to/ORBvoc.txt \
  -p settings:=/path/to/config.yaml \
  -r /camera/image_raw:=/robot/camera/image_raw

# Stereo
ros2 run orb_slam3_ros orb_slam3_stereo \
  --ros-args -p vocabulary:=/path/to/ORBvoc.txt \
  -p settings:=/path/to/stereo_config.yaml

# RGB-D
ros2 run orb_slam3_ros orb_slam3_rgbd \
  --ros-args -p vocabulary:=/path/to/ORBvoc.txt \
  -p settings:=/path/to/rgbd_config.yaml

# Stereo-Inertial
ros2 run orb_slam3_ros orb_slam3_stereo_inertial \
  --ros-args -p vocabulary:=/path/to/ORBvoc.txt \
  -p settings:=/path/to/stereo_inertial_config.yaml

2. RTAB-Map Configuration

Configure RTAB-Map for RGB-D and LiDAR SLAM:

# rtabmap_params.yaml