Code for paper VINS-LPL: A Robust Visual-Inertial SLAM System with Learning-based Point-Line Matching
Our code is developped based on VINS-Mono and ROS 1, which can be installed with catkin_make.
After the installation, run the following command to test the full VI-SLAM algorithm on the TUM-VI dataset
roslaunch vins_estimator tum.launch
Note that Gluepl weights and the vocabulary file for loop detection are available at https://pan.baidu.com/s/1M0ie6pyW_0tl8yUz1P4NVw?pwd=eh38 (code: eh38).