How to run ORB SLAM with KITTI Dataset

How to run ORB SLAM with KITTI Dataset

Monocular Examples

1. Download the dataset (grayscale images) from http://www.cvlibs.net/datasets/kitti/eval_odometry.php

2. Execute the following command. Change KITTIX.yamlby KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change PATH_TO_DATASET_FOLDER to the uncompressed dataset folder. Change SEQUENCE_NUMBER to 00, 01, 02,.., 11.

./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER

Map I got

In KeyFrameTrajectory.txt file, every row has 8 entries containing time stamp (in seconds), position and orientation: 'timestamp x y z q_x q_y q_z q_w'
So to achieve what you want to do, you could for example load the file as a table (similar to a .csv file) and then the columns 2 to 4 are your x, y, z values (or 1 to 3 if you count from 0)

Stetro Examples

1. Download the dataset above.

2. Execute the following command. Change KITTIX.yamlto KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change PATH_TO_DATASET_FOLDER to the uncompressed dataset folder. Change SEQUENCE_NUMBER to 00, 01, 02,.., 11.

./Examples/Stereo/stereo_kitti Vocabulary/ORBvoc.txt Examples/Stereo/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER