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A stereo semantic visual odometry with two parallel threads: tracking and yolo

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stereo-semantic-vo

A gif of running on KITTI:

image

In addition to the requirements in ORB-SLAM2, it also need CUDA>=6.5 to run YOLO detection, according to your own GPU compute capability to modify the following line:

LIST(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_35,code=sm_35)

My Graphics card is:GeForce GT 730, GPU compute capability=35

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A stereo semantic visual odometry with two parallel threads: tracking and yolo

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