slam_eval

1. Prerequisites

Ubuntu and ROS

Ubuntu 64-bit 18.04. ROS Melodic.

2. Package Prerequisites

2.1 FLOAM (: https://github.com/djivani/floam

2.2 ORB_SLAM2: https://github.com/djivani/ORB_SLAM2

2.3 Kitti_to_rosbag: https://github.com/djivani/kitti_to_rosbag

2.4 evo: https://github.com/djivani/evo

These packages have their own pre-requistes and build instructions which can be found on their respective pages.

3. Dataset

KITTI Residential 2011_09_30_drive_0027 (4.3 GB) http://www.cvlibs.net/datasets/kitti/raw_data.php?type=residential