fisheye equirectangular perspective various camera types 360m 180m (captured with a hand-held camera) Outdoor 3D map with an equirectangular cameraFigure 1: One of the noteworthy features of OpenVSLAM: 3D scene mapping with various types of camera models.
ABSTRACTIn this paper, we introduce OpenVSLAM, a visual SLAM framework with high usability and extensibility. Visual SLAM systems are essential for AR devices, autonomous control of robots and drones, etc. However, conventional open-source visual SLAM frameworks are not appropriately designed as libraries called from third-party programs. To overcome this situation, we have developed a novel visual SLAM framework. This software is designed to be easily used and extended. It incorporates several useful features and functions for research and development. OpenVSLAM is released at https: //github.com/xdspacelab/openvslam under the 2-clause BSD license.
Visual simultaneous localization and mapping (VSLAM) systems are essential for augmented reality devices, autonomous control of robots and drones, etc. However, conventional open-source visual SLAM frameworks are not designed to be called as libraries from third-party programs. To overcome this situation, we have developed OpenVSLAM [1-3], a novel visual SLAM framework, and released it as open-source software under the 2-clause BSD license.
OpenVSLAM was presented and won first place in ACM Multimedia 2019 Open Source Software Competition.
In this article, we show examples of using OpenVSLAM and hope that this encourages and enables further use of OpenVSLAM in research and development.
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