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Run Examples

In this page, we will show how to run UltimateSLAM offline on a few datasets from the Event Camera Dataset.

Download datasets

First, make sure UltimateSLAM is sourced in your current terminal:

source ~/uslam_ws/devel/setup.bash

Now, navigate to the ultimate_slam folder and create a data folder:

roscd ze_vio_ceres/../../
mkdir data
cd data/

Download some example datasets:

wget http://rpg.ifi.uzh.ch/datasets/davis/boxes_6dof.bag
wget http://rpg.ifi.uzh.ch/datasets/davis/dynamic_6dof.bag
wget http://rpg.ifi.uzh.ch/datasets/davis/shapes_6dof.bag

Run UltimateSLAM

UltimateSLAM can run in two different modes: either using only events and IMU, or using events, frames and IMU.

Using events + IMU

roslaunch ze_vio_ceres ijrr17_events_only.launch bag_filename:=dynamic_6dof.bag

Using events + frames + IMU

roslaunch ze_vio_ceres ijrr17.launch bag_filename:=dynamic_6dof.bag

When launching, an RVIZ window should pop up, showing the current estimated trajectory and point cloud.

Congratulations! You are ready to run UltimateSLAM in real-time.