A monocular SLAM implementation. Uses the classic 8-point algorithm with Hartley normalization.

Dependencies

• OpenCV
• numpy
• matplotlib for 2D image keypoint visualizations
• Pangolin for 3D visualizations

Usage

• Run custom_slam.py to run my implementation (doesn't use OpenCV except for ORB feature extraction, that's coming soon)
• Alternatively, run opencv_slam.py to see what OpenCV does

Current status

• Initial establishment of camera position and triangulated points complete
• Next steps: localize camera in future frames and project other keypoints

Future upgrades

• Use the 5-point algorithm (Li/Hartley or Lui/Drummond) instead of the 8-point algorithm, once I figure out how they work...
• Loop closure
• Speed things up. Possible areas of slowdown: RANSAC, 8-point algorithm, ORB keypoint matching