About

This Repo contains the code for an indoor implementation of SplaTAM(CVPR 2024).We substitute the off-line dataset input using real-time ROS input.

🎥Demo

🦿Hardware setup

• AgileX Scout Mini Pro
• Intel Realsense D435

🖱Software setup

• The code is largely based on SplaTAM(Algorithm),we only add extra code to cope well with ROS input.
• We also try to use some SOTA Monocular Depth Estimation(MDE) methods(e.g. DPT) to make it depth-free.However,the result is not promising.We speculate that this may be due to the robustness of DPT.
• We highly recommend trying other more advanced MDE methods.

🍽Get started (brewing...)

Acknowledgement

• Shout out to Jingfeng Li for his unreserved guidance on this project.Wish him all the best in future job career!!🫶🏻🫶🏻🫶🏻

End

If you are interested in any technical details in this project,feel free to contact!😆