A Robust Buffering Method for Remote Visual SLAM

• /test_pub is an example of how to use the ORBBuf interface.

• /image_content_ws is the main implementation of the ORBBuf interface.

In order to make the ORBBuf interface work, we have to modify underlining ROS code. To be specific:

• /ros_comm_ws is the modified ros_comm code, based on the Kinetic version. Main changes are around here and here. These changes allow us to trigger a user-defined callback function whenever a message has been sent.

• /image_transport_ws is the modified image_transport code.

• /plugins_ws is the modified image_transport_plugins code. These changes allow us to pass the user-defined callback function along the way.

1. Run build.sh. Note that this process will update your ROS library (libroscpp.so). But if you don't use the ORBBuf interface, there is no harm to your ROS.
2. Run the generated stereo_kitti_pub for a test with the KITTI dataset.

The full paper can be accessed with arXiv.

If you are interested, please cite our IROS 2021 paper:

@inproceedings{DBLP:conf/iros/WangZWDQM21,
  author    = {Yu{-}Ping Wang and
               Zi{-}Xin Zou and
               Cong Wang and
               Yue{-}Jiang Dong and
               Lei Qiao and
               Dinesh Manocha},
  title     = {ORBBuf: {A} Robust Buffering Method for Remote Visual {SLAM}},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems,
               {IROS} 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021},
  pages     = {8706--8713},
  publisher = {{IEEE}},
  year      = {2021},
  url       = {https://doi.org/10.1109/IROS51168.2021.9635950},
  doi       = {10.1109/IROS51168.2021.9635950},
  timestamp = {Wed, 22 Dec 2021 12:37:50 +0100},
  biburl    = {https://dblp.org/rec/conf/iros/WangZWDQM21.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}