RGBD_SLAM
Summary
- Implemented feature detection with ORB and matching with FLANN and tested Brute-Matcher in OpenCV.
- Estimated camera poses by PnP with RANSAC and optimized estimation by minimizing re-projection error in g2o.
- Built a local map for adding features and updating pose estimation then tested results on TUM dataset.
- Created two dense maps by Octomap and by PCL with depth filter and statistical outliers removal filter.
Result
Click here to watch the result video