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License: Apache License 2.0
Visual SLAM framework under development
License: Apache License 2.0
Implement robustification described below:
Kerl, Christian, Jürgen Sturm, and Daniel Cremers. "Robust odometry estimation for RGB-D cameras." 2013 IEEE International Conference on Robotics and Automation. IEEE, 2013.
Engel, Jakob, Jurgen Sturm, and Daniel Cremers.
"Semi-dense visual odometry for a monocular camera."
Proceedings of the IEEE international conference on computer vision. 2013.
GUI Visualizers require X11 forwarding when running on docker. However interface based on X server requires only port forwarding so easier to run and visualize the reconstruction results.
Kerl, Christian, Jürgen Sturm, and Daniel Cremers.
"Dense visual SLAM for RGB-D cameras."
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2013.
Currently Forward Additive Algorithm is used to estimate the pose change, but Forward Compositional Algorithm is proposed as well in the Kerl's paper. Furthermore, Inverse Compositional Algorithm is implemented in the original source code.
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