27 lines
1.3 KiB
Markdown
27 lines
1.3 KiB
Markdown
# ORB-SLAM3
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Details of changes between the different versions.
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### V0.3: Beta version, 4 Sep 2020
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- RGB-D compatibility, the RGB-D examples had been adapted to the new version.
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- Kitti and TUM dataset compatibility, these examples had been adapted to the new version.
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- ROS compatibility, It had been updated the old references in the code to work with this version.
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- Config file parser, the YAML file contains the session configuration, a wrong parametrization may break the execution without any information to solve it. This version parses the file to read all the fields and give a proper answer if one of the fields have been wrong deffined or don't exist.
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- Fixed minor bugs.
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### V0.2: Beta version, 7 Aug 2020
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Initial release. It has these capabilities:
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- Multiple-Maps capabilities, it is able to handle multiple maps in the same session and merge them when a common area is detected with a seamless fussion.
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- Inertial sensor, the IMU initialization takes a 2 seconds to achieve a scale error less than 5\% and it is reffined in the next 10 seconds until is around 1\%. Inertial measures are integrated at frame rate to estimate the scale, gravity and velocity in order to improve the visual features detection and make the system robust to temporal occlusions.
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- Fisheye sensor, the fisheye sensors are now fully supported in monocular and stereo.
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