From 830d708f773c834ab9d7174a719d164546fc96aa Mon Sep 17 00:00:00 2001 From: Mohamed Aladem Date: Wed, 8 Aug 2018 18:57:34 -0400 Subject: [PATCH] Update README.md --- README.md | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 4b20d16..ad5fc7e 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,18 @@ -# lvt -Lightweight Visual Tracking +# LVT +Lightweight Visual Tracking (LVT) is a real-time feature-based visual odometry system, supporting both Stereo and RGB-D sensors. The system is described in the following paper: +> Mohamed Aladem and Samir A. Rawashdeh, "Lightweight Visual Odometry for Autonomous Mobile Robots" (under review) + +A video demonstrating the system: + +[![LVT demo](http://img.youtube.com/vi/t2gr6y90aWI/0.jpg)](http://www.youtube.com/watch?v=t2gr6y90aWI) + +# Building +LVT uses CMake build system. It was built successfully on Linux Ubuntu 16.04 and Windows 10 using MSVC 2017. The build dependencies are: +* [Eigen3](http://eigen.tuxfamily.org/index.php?title=Main_Page) +* [OpenCV3](https://github.com/opencv/opencv) and [OpenCV3 contrib](https://github.com/opencv/opencv_contrib) which is needed for the BRIEF descriptor extractor. +* [G2O](https://github.com/RainerKuemmerle/g2o) +* [Pangolin](https://github.com/stevenlovegrove/Pangolin) - OPTIONAL, only needed if LVT is built with visualization enabled. + +Building then proceeds like any typical CMake-based project using the provided top-level CMakeLists file, which will generate lvt as a static library, lvt_c which is a C-interface for lvt as a shared library, and the executable example projects in their source directories. +# Using ROS +LVT optionally supports the Robot Operating System (ROS) and can build a node compatible with it. It was tested and working successfully with ROS Kinetic Kame. The subdirectory _lvt_ is actually a compatible ROS package which can be copied into your workspace and built directly using catkin.