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Experimental Evaluation

Configurations for the multi-modal SLAM systems ran in the experimental evaluation section of the paper can be found under the evaluation/ folder. We assume that you have the path to the rosbag under the environment value $ROSARIOV2, for example:

export ROSARIOV2=/home/$USER/rosariov2/sequences/2023-12-22-13-14-16.bag

ORB-SLAM3

Repository

After copying (evaluation/orb-slam3_rosariov2.launch)[evaluation/orb-slam3_rosariov2.launch] into the ORB_SLAM3/Examples/ROS/ORB_SLAM3/launch/ folder, and copying (evaluation/orb-slam3_rosariov2.yaml)[evaluation/orb-slam3_rosariov2.yaml] into the newly created ORB_SLAM3/Examples/ROS/ORB_SLAM3/config/ folder, run:

# Check additional parameters with: ./run.sh -h
./run.sh -l orb-slam3_rosariov2.launch &\
rosbag play -d 10 --clock $ROSARIOV2

Check the original repository for instructions on building, and running inside a Docker container.

ORB-SLAM3+GNSS

Repository

After copying (evaluation/orb-slam3-gnss_rosariov2.launch)[evaluation/orb-slam3-gnss_rosariov2.launch] into the gnss-stereo-inertial-fusion/Examples/ROS/GNSS_SI/launch folder, creating the folder gnss-stereo-inertial-fusion/Examples/Stereo-Inertial/rosariov2, and copying there the file (evaluation/orb-slam3-gnss_rosariov2.yaml)[evaluation/orb-slam3-gnss_rosariov2.yaml], run:

./run.sh -s Examples/Stereo-Inertial/rosariov2/orb-slam3-gnss_rosariov2.yaml -l Examples/ROS/GNSS_SI/launch/orb-slam3-gnss_rosariov2.launch $ROSARIOV2

Check the original repository for instructions on building, and running inside a Docker container.

OpenVINS

Repository

After copying (evaluation/open-vins_rosariov2.launch)[evaluation/open-vins_rosariov2.launch] under open_vins/ov_msckf/launch/, creating the folder open_vins/config/rosariov2, and copying there the files (evaluation/open-vins_estimator_rosariov2.yaml)[evaluation/open-vins_estimator_rosariov2.yaml], (evaluation/open-vins_imuchain_rosariov2.yaml)[evaluation/open-vins_imuchain_rosariov2.yaml], and (evaluation/open-vins_imucam_rosariov2.yaml)[evaluation/open-vins_imucam_rosariov2.yaml], run:

# Check documentation on https://docs.openvins.com/
roslaunch ov_msckf evaluation/open-vins_rosariov2.launch bag:=$ROSARIOV2

Check the files to modify the resulting output paths. We opted to write all results into the /tmp folder.