环境配置 ubuntu18.04 或者 20.04 cuda 11.1
cudnn 8.05
torch==1.7.1+cu110
torchvision==0.8.2+cu110
torchaudio==0.7.2
opencv3.2.0
eigen 3.3.4或其他版本
先编译SLAM build.sh
建立conda环境yolact并配置yolact环境
本项目在剔除地图中动态物体的同时建立语义点云地图，在原来ORBSLAM2的基础上添加了分割线程和点云建图线程
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Gx1n/Yolact_SLAM_SemanticMap
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