/vo-slam

Visual Odometry - SLAM with Loop Closure and Bundle Adjustment in MATLAB

Primary LanguageMATLAB

visual odometry project summers 2015

The src folder contains 3 folders:

  1. SFM - computes the Structure from motion given a series of images from a monocular camera

  2. SLAM-LC - Fine Tunes the keypoints extracted and computes the trace of the camera along with detecting loop closure

  3. display_ftr - plots the keypoints extracted during SFM on the images to visualize the features extracted

For Bundle adjustment, I've used the Ceres sover.