slam_matlab

VO, Localization, Graph Optimization, Ground Truth, Trajectory Plot written in Matlab

Localization

wrappers to load data from cameras: Swiss Ranger 4000, Kinect, primesense, creative
wrappers to load tum rgbd
implementations for the paper

• S. Hong and C. Ye, "A Fast Egomotion Estimation Method based on Visual Feature Tracking and Iterative Closest Point", Proceedings of IEEE International Conference on Networking, Sensing and Control, 2014

VRO

Implementation for the paper

• C. Ye and M Bruch, "A visual odometry method based on the SwissRanger SR-4000", Proceedings of the Unmanned Systems Technology XII Conference at the 2012 SPIE Defense, Security, and Sensing Symposium, Orlando, FL

Graph SLAM

A graph based visual SLAM including two parts: frontend: VRO, backend: gtsam

ground_truth_zh

Trajectory extraction from the csv datasets collected by a motion capture system http://optitrack.com/

libs_dir

collection of SLAM related projects, tools and examples, which include EKF-SLAM, LM solver, kdtree etc.

plot_traj

plot trajectories generated by different SLAM methods, for example, VINS-Mono, OKVIS, VIORB etc.

sift

libraries to detect and describe sift features