This project provides a minimal SLAM architecture in order to study the underlying optimization procedures. In particular, we investigate both optimization-based and EM-based algorithms. For demonstration, we use EuRoC dataset.
To build this project, just follow standard CMake procedure.
mkdir build
cd build
cmake .. [-D BUILD_TEST=OFF]
cmake --build .
Please check the configuration file config/test.yaml for the workflow including both frontend and backend.
To run frontend, please provide the directory of images.
./apps/frontend [path_to_image_directory]
To run backend, one needs to sepcify three files: observation file, IMU file, and ground truth for initialization.
./apps/backend [path_to_observation_file] [path_to_imu_file] [path_to_ground_truth_file]
Currently, for developing, I write the paths in the code. Therefore, directly executing those files without argements is fine.