slam

This repository contains a slimmed down mono slam algorithm.

Building

It should successfully build using the provided Dockerfile which will automatically install all dependencies. (Note: The docker container is setup to do X11 forwarding)

The build configuration is handled by CMake.

Example build process using docker

bash setup.sh
> mkdir build
> cd build
> cmake -DCMAKE_BUILD_TYPE=Release ..
> cmake --build . --config Release

Usage

After building in ./build/ it should be possible to run the system using these commands:

Sample data from https://vision.in.tum.de/data/datasets/rgbd-dataset/download

./slam "../videos/freiburgxyz_525.mp4" 525

Sample data from https://www.cvlibs.net/datasets/kitti/

./slam "../videos/kitti_984.mp4" 984

Demos

freiburgxyz sequence

kitti sequence