{"id":198,"date":"2021-12-31T02:03:59","date_gmt":"2021-12-31T07:03:59","guid":{"rendered":"https:\/\/sites.bu.edu\/tron\/?p=198"},"modified":"2021-12-31T02:03:59","modified_gmt":"2021-12-31T07:03:59","slug":"pyslam-d-an-open-source-library-for-localization-and-mapping-for-depth-cameras","status":"publish","type":"post","link":"https:\/\/sites.bu.edu\/tron\/2021\/12\/31\/pyslam-d-an-open-source-library-for-localization-and-mapping-for-depth-cameras\/","title":{"rendered":"pySLAM-D: an open-source library for localization and mapping for depth cameras"},"content":{"rendered":"<p><span>pySLAM-D is a SLAM repository for\u00a0<\/span><strong>RGB-D<\/strong><span>\u00a0images in\u00a0<\/span><em>python<\/em><span>\u00a0that computes the camera trajectory and yields a 3D reconstruction of the scene. This code is suitable for Reinforcement Learning purposes and utilizes existing C++ libraries for fast and robust visual odometry, loop-closure detection, and pose graph optimization. We have tested this code for visual SLAM in the\u00a0<\/span><a href=\"https:\/\/github.com\/facebookresearch\/habitat-sim\">Habitat-Sim<\/a><span>\u00a0environment.<\/span><\/p>\n<p>This repository is available <a href=\"https:\/\/github.com\/armandok\/pySLAM-D\">here<\/a><span>.<img loading=\"lazy\" src=\"\/tron\/files\/2021\/02\/habitat.gif\" alt=\"\" class=\"alignnone size-full wp-image-199\" width=\"512\" height=\"366\" \/><\/span><\/p>\n","protected":false},"excerpt":{"rendered":"<p>pySLAM-D is a SLAM repository for\u00a0RGB-D\u00a0images in\u00a0python\u00a0that computes the camera trajectory and yields a 3D reconstruction of the scene. This code is suitable for Reinforcement Learning purposes and utilizes existing C++ libraries for fast and robust visual odometry, loop-closure detection, and pose graph optimization. We have tested this code for visual SLAM in the\u00a0Habitat-Sim\u00a0environment. This [&hellip;]<\/p>\n","protected":false},"author":18846,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[11],"tags":[],"_links":{"self":[{"href":"https:\/\/sites.bu.edu\/tron\/wp-json\/wp\/v2\/posts\/198"}],"collection":[{"href":"https:\/\/sites.bu.edu\/tron\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/sites.bu.edu\/tron\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/sites.bu.edu\/tron\/wp-json\/wp\/v2\/users\/18846"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.bu.edu\/tron\/wp-json\/wp\/v2\/comments?post=198"}],"version-history":[{"count":2,"href":"https:\/\/sites.bu.edu\/tron\/wp-json\/wp\/v2\/posts\/198\/revisions"}],"predecessor-version":[{"id":204,"href":"https:\/\/sites.bu.edu\/tron\/wp-json\/wp\/v2\/posts\/198\/revisions\/204"}],"wp:attachment":[{"href":"https:\/\/sites.bu.edu\/tron\/wp-json\/wp\/v2\/media?parent=198"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/sites.bu.edu\/tron\/wp-json\/wp\/v2\/categories?post=198"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/sites.bu.edu\/tron\/wp-json\/wp\/v2\/tags?post=198"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}