# semantic_slam

**Repository Path**: sdkmsdn_admin/semantic_slam

## Basic Information

- **Project Name**: semantic_slam
- **Description**: ORB-SLAM2 combined with yolov3 object detection, considering the relationship among objects
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-03-29
- **Last Updated**: 2024-08-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# semantic_slam ORB-SLAM2

#  RGB-D Example
## TUM Dataset

/home/zss/Documents/myslam/desk_yolo.txt /home/zss/Documents/myslam/TUM1.yaml /home/zss/Documents/data/rgbd_dataset_freiburg1_desk /home/zss/Documents/data/rgbd_dataset_freiburg1_desk/associate.txt
  
绝对误差： 

![Image text](https://github.com/zssjh/semantic_slam/blob/master/picture/ape.png)


实际场景稀疏语义地图表达，useful数据关联：

![Image text](https://github.com/zssjh/semantic_slam/blob/master/picture/real_scene.png)