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openvslam
openvslam
 
 
.gitignore
.gitignore
 
 
CMakeLists.txt
CMakeLists.txt
 
 
LICENSE
LICENSE
 
 
README.md
README.md
 
 
_unit_test_slam_ransac.cpp
_unit_test_slam_ransac.cpp
 
 
ba_stats.hpp
ba_stats.hpp
 
 
bow_index.cpp
bow_index.cpp
 
 
bow_index.hpp
bow_index.hpp
 
 
bundle_adjuster.cpp
bundle_adjuster.cpp
 
 
bundle_adjuster.hpp
bundle_adjuster.hpp
 
 
design-document.pdf
design-document.pdf
 
 
feature_detector.cpp
feature_detector.cpp
 
 
feature_detector.hpp
feature_detector.hpp
 
 
feature_search.cpp
feature_search.cpp
 
 
feature_search.hpp
feature_search.hpp
 
 
id.cpp
id.cpp
 
 
id.hpp
id.hpp
 
 
image_pyramid.cpp
image_pyramid.cpp
 
 
image_pyramid.hpp
image_pyramid.hpp
 
 
key_point.hpp
key_point.hpp
 
 
keyframe.cpp
keyframe.cpp
 
 
keyframe.hpp
keyframe.hpp
 
 
keyframe_matcher.cpp
keyframe_matcher.cpp
 
 
keyframe_matcher.hpp
keyframe_matcher.hpp
 
 
loop_closer.cpp
loop_closer.cpp
 
 
loop_closer.hpp
loop_closer.hpp
 
 
loop_closer_stats.hpp
loop_closer_stats.hpp
 
 
loop_ransac.cpp
loop_ransac.cpp
 
 
loop_ransac.hpp
loop_ransac.hpp
 
 
map_point.cpp
map_point.cpp
 
 
map_point.hpp
map_point.hpp
 
 
mapdb.cpp
mapdb.cpp
 
 
mapdb.hpp
mapdb.hpp
 
 
mapper.cpp
mapper.cpp
 
 
mapper.hpp
mapper.hpp
 
 
mapper_helpers.cpp
mapper_helpers.cpp
 
 
mapper_helpers.hpp
mapper_helpers.hpp
 
 
opencv_viewer_data_publisher.cpp
opencv_viewer_data_publisher.cpp
 
 
opencv_viewer_data_publisher.hpp
opencv_viewer_data_publisher.hpp
 
 
optimize_transform.cpp
optimize_transform.cpp
 
 
optimize_transform.hpp
optimize_transform.hpp
 
 
orb_extractor.cpp
orb_extractor.cpp
 
 
orb_extractor.hpp
orb_extractor.hpp
 
 
relocation.cpp
relocation.cpp
 
 
relocation.hpp
relocation.hpp
 
 
serialization.hpp
serialization.hpp
 
 
slam_implementation.cpp
slam_implementation.cpp
 
 
slam_implementation.hpp
slam_implementation.hpp
 
 
slam_viewer.cpp
slam_viewer.cpp
 
 
slam_viewer.hpp
slam_viewer.hpp
 
 
static_settings.cpp
static_settings.cpp
 
 
static_settings.hpp
static_settings.hpp
 
 
viewer_data_publisher.cpp
viewer_data_publisher.cpp
 
 
viewer_data_publisher.hpp
viewer_data_publisher.hpp
 
 

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VIO-SLAM Module

The state-of-the-art SLAM methods are somewhat difficult to grasp due to their complexity and unexpected tight couplings / leaky abstractions when trying to find out what the main parts are. This repository contains a SLAM module implementation that tries to coherently include relevant aspects of the SLAM pipeline.

See the design-document.pdf for details.

Contributors

Authors and contributors at Aalto University: Otto Seiskari, Pekka Rantalankila, Arno Solin, Jerry Ylilammi, Juho Kannala, Johan Jern

License

This SLAM module is based on OpenVSLAM, which was initially claimed by its authors to be licensed under a BSD-style permissive license, but later taken offline due to possible GPL-licensing violation in connection to the ORB-SLAM codebase. Therefore, this module is not suitable for commercial use, see the file openvslam/README.md for more details.

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SLAM module

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