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ORB-SLAM2_with_camera_or_video
ORB-SLAM2_with_camera_or_video PublicThis is a project modified on the basis of ORB-SLAM2 to use your own camera of PC or video.
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TrajectoryErrorCalculationAndDrawing
TrajectoryErrorCalculationAndDrawing PublicThis is a small demo to compare and plot SLAM estimated trajectories and ground-truth trajectories with RMSE and Pangolin..
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Gaussian-NewtonMethodForCurveFittingExperiment
Gaussian-NewtonMethodForCurveFittingExperiment PublicThis demo is curve fitting by G-N method,and it can help us better understand the optimization process.
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Build_ORB_FeatureDescriptor
Build_ORB_FeatureDescriptor PublicThe purpose of this demo is to better understand the underlying implementation of ORB.
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BundleAdjustmentWith_G-N
BundleAdjustmentWith_G-N PublicI write a simple Gaussian Newton method , and use Bundle Adjustment to optimize the pose.
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TrajectoryDrawing
TrajectoryDrawing PublicThe trajectory of the robot is known and plotted with Pangolin.
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