/my-slam

My visual SLAM implementation based on the Slambook from Gao Xiang

Primary LanguageC++

My SLAM

🌟 On going project 🌟

A stereo visual SLAM package based on slambook2 chapter 13. Ported to ROS for easier testing and usage.

Data Structures

  • Camera: camera class to store camera information and transformation methods
  • Frame: a frame of stereo images
  • Feature: 2D position of a feature on the image
  • MapPoint: 3D position of a map point in the map
  • Map: maintains the interface to the map; used by both frontend and backend