RGBD-Inertial Trajectory Estimation and Mapping for Small Ground Rescue Robot

Original source code is on VINS-RGBD.

1. Install (With Docker)

Follow this manual.

2. Datasets

Recording by RealSense D435i. Contain 9 bags in three different applicaions:

• Handheld
• Wheeled robot (Jackal)
• Tracked robot

Note the rosbags are in compressed format. Use "rosbag decompress" to decompress.

Topics:

• depth topic: /camera/aligned_depth_to_color/image_raw
• color topic: /camera/color/image_raw
• imu topic: /camera/imu

3. Licence

The source code is released under GPLv3 license.