Top AI Repos — open-source AI, indexed and scored
Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
Top AI Repos tracks AI repositories on GitHub and answers two different questions about each one: is it moving right now, and would you bet a product on it.
UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping
| Date | Stars |
|---|---|
| 2026-07-24 | 300 |
| 2026-07-25 | 300 |
| 2026-07-28 | 300 |
| 2026-07-30 | 300 |
| 2026-08-06 | 300 |
Today
— stars today
This week
— stars this week
This month
— stars this month
Momentum
0.0
growth rate 0.00%/day
# UV-SLAM
Official page of *"UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping"*, which is published in IEEE RA-L with ICRA'22 presentation option.
For more details, please refer to: https://doi.org/10.1109/LRA.2022.3140816
[](https://ieeexplore.ieee.org/abstract/document/9672726)
[](https://arxiv.org/abs/2112.13515)
[](https://youtu.be/jyUphjBxAnM)
<center>
| [ALVIO](https://link.springer.com/chapter/10.1007/978-981-16-4803-8_19) | UV-SLAM |
| :---: | :---: |
| <img src="https://user-images.githubusercontent.com/42729711/143393636-48d80da1-189f-4ea4-9860-eb1914eddafa.png"> | <img src="https://user-images.githubusercontent.com/42729711/143393647-ec49dab0-b2e0-4c77-831a-03a819125a7f.png"> |
</center>
## Results
Mapping results for *MH_05_difficult* in the [EuRoC datasets](https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets)
All mapping results for the EuRoC datasets is available in [here](https://github.com/url-kaist/UV-SLAM/tree/main/supplement/mapping_result.pdf)
<center>
| [ALVIO](https://link.springer.com/chapter/10.1007/978-981-16-4803-8_19) | [Previous work](https://ieeexplore.ieee.org/document/9560911) | UV-SLAM |
| :---: | :---: | :---: |
| <img src="https://user-images.githubusercontent.com/42729711/143398005-afce16e2-c3dc-4c3b-af6e-adade9a45d56.png"> | <img src="https://user-images.githubusercontent.com/42729711/143397993-edb67494-b00c-47e1-8591-532cf0c4cc46.png"> | <img src="https://user-images.githubusercontent.com/42729711/143398028-9cf349f8-510e-4709-9859-4ff752b47f13.png"> |
</center>
## Installation
### 1. Prerequisites
- Ubuntu 18.04
- [ROS melodic](http://wiki.ros.org/ROS/Installation)
- OpenCV 3.2.0 (under 3.4.1)
- [Ceres Solver](http://ceres-solver.org/)
### 2. Build
```
cd ~/<your_workspace>/src
git clone --recursive https://github.com/url-kaist/UV-SLAM.git
cd ..
catkin_make
source ~/<your_workspace>/devel/setup.bash
```
### 3. Trouble shooting
- If you have installed [VINS-mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono) before, remove the common packages.
Example: ```benchmark_publisher```, ```camera_model```, etc
## Run on EuRoC datasets
Download [EuRoC MAV Dataset](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets).
Open three terminals and launch the vins_estimator, rviz, and play the bag file, respectively.
```
roslaunch uv_slam euroc.launch
roslaunch uv_slam vins_rviz.launch
rosbag play <dataset>
```
## Citation
If you use the algorithm in an academic context, please cite the following publication:
```
@article{lim2022uv,
title={UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping},
author={Lim, Hyunjun and Jeon, Jinwoo and Myung, Hyun},
journal={IEEE Robotics and Automation Letters},
year={2022},
publisher={IEEE},
volume={7},
number={2},
pages={1518-1525},
doi={10.1109/LRA.2022.3140816}
}
```
```
@inproceedings{lim2021avoiding,
title={Avoiding Degeneracy for Monocular Visual {SLAM} with Point and Line Features},
author={Lim, Hyunjun and Kim, Yeeun and Jung, Kwangik and Hu, Sumin and Myung, Hyun},
booktitle={Proc. IEEE International Conference on Robotics and Automation (ICRA)},
pages={11675--11681},
year={2021}
}
```
## Acknowledgements
We use [VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono) as our baseline code. Thanks Dr. Qin Tong, Prof. Shen etc very much. For line feature extraction, we use [ELSED](https://github.com/iago-suarez/ELSED). For vanishing point extraction, we use [J-linkage](http://www.diegm.uniud.it/fusiello/demo/jlk/) and [2-line exhaustive searching method](https://github.com/xiaohulugo/VanishingPointDetection).
This work was financially supported in part by Institute of Information & communications TechnologExcerpt of 4,692 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:8ce07a86cef56758, topic:robotics, topic:ros, topic:slam