ORB_SLAM_live-map

Build live frequency occupy grid map from ORB_SLAM map points. Also has the option to generate new map points base on ORB_SLAM map points to make the map denser.

This repository use a modified version of ORB_SLAM that output the map points and keyframes to disk: https://github.com/minhnhat93/ORB_SLAM2

For details how the extra map points are generated see the slide: https://github.com/minhnhat93/ORB_SLAM_live-map/tree/master/docs/slide_extra_map_points_for_orb_slam.odp

Segementation + Illustration of ORB_SLAM map points (green) and extra map points (red):

Occupancy Grid Map building with ORB_SLAM map points:

Occupancy Grid Map building with ORB_SLAM map points and extra map points: