视觉SLAM | ORB_SLAM3

论文：
两个创新点：

1. List item

对ORB_SLAM3 的相关博客进行总结

[1] : 源码下载
[2] : Ubuntu16.04环境下配置运行ORB-SLAM3
[3]: ORBSLAM3 的改进
[4] : ORBSLAM3的IMU积分求解过程
[5] : Ubuntu16.04安装Eigen3
[6] : vscode 中未包含 ros/ros.h的解决办法
[7] : ORB-SLAM笔记———ORB-SLAM3概述
[8] : ORB-SLAM笔记——ORB-SLAM3的IMU初始化（1）理论部分
[9] : 怎么才能形象的说明IMU的bias随机游走？
[10] : 谈谈VIO中的IMU传感器

# Stereo Examples
echo "Launching Room 1 with Stereo sensor"
// 1
./Examples/Stereo/stereo_tum_vi
// 2
 Vocabulary/ORBvoc.txt 
// 3
 Examples/Stereo/TUM_512.yaml 
// 4
 "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data 
// 5
 "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data 
// 6  
 Examples/Stereo/TUM_TimeStamps/dataset-room1_512.txt 
// 7
 dataset-room1_512_stereo

echo "Launching Room 1 with Monocular sensor"
//-- 1. 字典
./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt 
//-- 2. 相机配置文件
Examples/Monocular/TUM_512.yaml 
//-- 3.数据集
"$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data 
//-- 4. 相机时间戳
Examples/Monocular/TUM_TimeStamps/dataset-room1_512.txt 
//-- 5 . 
dataset-room1_512_mono

echo "Launching Room 1 with Monocular-Inertial sensor"
//-- 1. 可执行文件
./Examples/Monocular-Inertial/mono_inertial_tum_vi 
//-- 2. 字典
Vocabulary/ORBvoc.txt 
//-- 3. 相机和IMU配置文件
Examples/Monocular-Inertial/TUM_512.yaml 
//-- 4.数据集
"$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data 
//-- 5. 相机时间戳
Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room1_512.txt 
//-- 6.IMU时间戳、角速度、加速度
Examples/Monocular-Inertial/TUM_IMU/dataset-room1_512.txt 
//-- 7.
dataset-room1_512_monoi

# MultiSession Monocular Examples
echo "Launching Room 1, Magistrale 1, Magistrale 5 and Slides 1 in the same session with Stereo-Inertial sensor"

./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt 
Examples/Monocular-Inertial/TUM_512.yaml 

"$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data 
Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt
 Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt 
 
 "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data 
 Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt 
 Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt 
 
 "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data 
 Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt 
 Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt 
 
 "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data 
 Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txt 
 Examples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt 
 
 dataset-room1_mag1_mag5_slides1_monoi