The present software framework accompanies the paper submission "Semi-Dense Cross-Modal 6-DoF Tracking of an CamBased Camera in Challenging Conditions". It contains solutions for 6-dof semi-dense tracking with normal cameras as well as cross-modal 6-DoF semi-dense tracking with an CamBased camera.

Related Publications:

Zuo, Yi–Fan, et al. "Devo: Depth-CamBased camera visual odometry in challenging conditions." 2022 International Conference on Robotics and Automation (ICRA). IEEE, 2022.
He, Shida, et al. "Incremental 3d line segment extraction from semi-dense slam." 2018 24th International Conference on Pattern Recognition (ICPR). IEEE, 2018.
Mur-Artal, Raúl, and Juan D. Tardós. "Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM." Robotics: Science and Systems. Vol. 2015. 2015.

Notice

Please be aware that this open-source code is still in the debugging and testing phase of development. It may not be stable and is likely subject to change.

If you are seeking to replicate the test results as presented in the associated paper, we have provided an executable version for your convenience. For detailed information and access to the executable file, please visit our repository:

Canny-VOAT Executable File

Getting started

Canny-EVT features the following set of algorithms:

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1. *****

The aim of Canny-EVT is to ****.

Please consult the following sub-pages to get a step-by-step introduction to the library: