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This is part of my research as a graduate student at UCLA Vision Lab. The SLAM system is Extended Kalman Filter (EKF) based, has features (landmarks) in the sta
by xfei91 7y ago
This is part of my research as a graduate student at UCLA Vision Lab. The SLAM system is Extended Kalman Filter (EKF) based, has features (landmarks) in the state, and jointly estimates the pose of the camera and the location of the landmarks. It runs at 140 Hz on a PC and is much faster than (some if not all) existing open-source VIO systems.
- mbrumlow 7y agoThis shit is awesome. Thanks for sharing!
- carapace 7y agoThis is terrific, cheers!
- hlieberman 7y agoAwesome; this is great work! One little nit, however: it should be important to note that this is not an open-source VIO system. It's licensed for research purposes only; anything else requires a commercial license from UCLA.
- dllu 7y agoIt is open source, but it is not free and open source [1]. [1] https://en.wikipedia.org/wiki/Free_and_open-source_software https://en.wikipedia.org/wiki/Free_and_open-source_software EDIT: nevermind, I guess it's just source-available software.
- ebg13 7y ago> It is open source Not by contemporary language standards. https://en.wikipedia.org/wiki/Open-source_software https://en.wikipedia.org/wiki/Open-source_software https://en.wikipedia.org/wiki/Source-available_software https://en.wikipedia.org/wiki/Source-available_software
- xfei91 7y agoThanks for pointing that out. First time doing "open-source" (well it seems it's not really open-source according to the modern definition). I'd like to use a more permissive license, but it's up to UCLA.
- KaiserPro 7y agoNo worries, you're sharing the code, and that's the most important thing!
- tuukkah 7y agoA middle ground might be found in licensing as open source the code that is needed to replicate any of your scientific findings. UCLA could keep proprietary the tooling required for commercial applications.
- taneq 7y ago"Open source" has always meant "source code is available" to most people. The need to differentiate between "open source software" and "free software" (in the Stallman sense) is the very reason that the term "free software" was coined. The fact that the Open Source Initiative published a document controlling the use of a certification logo doesn't mean they own the term.