VectoMark: Vectorized Road Markings Modeling for Visual SLAM in Public Transportation Environments

1. Experiments Videos (Click to jump)

YouTube Here (default)

Bilibili Here

2. Getting Started

Our work is based on PLP-SLAM, and all the code environments are the same as that of this project. (code)

Plane_Obj_Vectorization demo

See Here

Path_Planning_Base_Lines demo

See Here

3. The Graphical Abstract

4. The System Framework

5. Vectorized Planar Object Modeling

6. Mapping Visualization

7. 轨迹估计

8. The upcoming datasets (RoadMarkings_TJ)

you can download the datasets from the following links: RoadMarkings_TJ

Related Works

[1] F. Shu, et al. "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras". IEEE International Conference on Robotics and Automation (ICRA), 2023. (https://arxiv.org/abs/2207.06058) updated arXiv v3 with supplementary materials.