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A*SLAM Software
A*SLAM Software
For more information see https://astar.ai.
The following steps have been tested and passed on Ubuntu 16.04.5.
1. Hardware Requirements
It is recommended to run A*SLAM in a computer with 4-core, 8-thread CPU (i7-8550U or better) and 8G RAM.
2. OpenCV Installation
Follow the steps in CaliCam@GitHub.
3. Download Image Data
Make sure the uncompressed files are under the directory /home/USER_NAME/data/aslam_indoor
cd
mkdir data
cd data
wget http://astar.support/dotai/aslam_indoor.tar.gz
tar xvf aslam_indoor.tar.gz
4. Download Program
cd
git clone https://github.com/astar-ai/aslam.git
cd aslam
chmod 777 ./link
./link
5. Run
To run A*SLAM program, you need to change the name of CaliCam stereo parameter file '##-YYMMDD-####.yml' to 'stereo.yml' first.
./aslam
6. Operation
Plese refer to the Operation part of A*SLAM Manual.
7. SSML: Monocualr Localization
To run A*SLAM program in the Monocular Localization mode, you need to change the name of CaliCam monocular parameter file '##-YYMMDD-####.yml' to 'mono.yml' first.
You also need to set the following parameters in the 'param.yml' file.
slam_mode: 0
model: mono