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Mono-Slam Implementation in ROS

This repository implements the mono-slam algorithm first introduced by Andrew Davison, and is the final outcome of the M.Sc. Thesis of Ludovico O. Russo in the 2013.

Reference: Russo L.O., Rosa S., Bona B., Matteucci M., "A ROS implementation of the mono-slam algorithm", International Journal of Computer Science & Information Technology, Vol. 6 Issue 1, p339

Usage:

$ rosrun mono-slam mono-slam configuration.cfg /image:=/your_image_topic

configuration file contains parameters for the mono-slam algorithm and camera calibration. Sample configuration files are provided in the "conf" folder

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