Changelog.md 1.6 KB
ORB-SLAM3
Details of changes between the different versions.
V0.4: Beta version, 21 April 2021
Changed OpenCV dynamic matrices to static matrices to speed up the code.
Capability to measure running time of the system threads.
Compatibility with OpenCV 4.0 (Requires at least OpenCV 3.0)
Fixed minor bugs.
V0.3: Beta version, 4 Sep 2020
RGB-D compatibility, the RGB-D examples have been adapted to the new version.
Kitti and TUM dataset compatibility, these examples have been adapted to the new version.
ROS compatibility, updated the old references in the code to work with this version.
Config file parser, the YAML file contains the session configuration, a wrong parametrization may break the execution without any information to solve it. This version parses the file to read all the fields and give a proper answer if one of the fields have been wrongly deffined or does not exist.
Fixed minor bugs.
V0.2: Beta version, 7 Aug 2020
Initial release. It has these capabilities:
Multiple-Maps capabilities, it is able to handle multiple maps in the same session and merge them when a common area is detected with a seamless fussion.
Inertial sensor, the IMU initialization takes 2 seconds to achieve a scale error less than 5\% and it is reffined in the next 10 seconds until it is around 1\%. Inertial measures are integrated at frame rate to estimate the scale, gravity and velocity in order to improve the visual features detection and make the system robust to temporal occlusions.
Fisheye sensor, the fisheye sensors are now fully supported in monocular and stereo.