SOTA-SLAM

TODOs (in the order of priority)

• SIFT features (a bit later with CUDA support)
• camera model independent (pinhole, fisheye and perspective at first)
• Inverse depth parametrization
• Voxel-based Map
• GTSAM as pose graph backend
• IMU fusing
• mix of direct and indirect approach
• online camera calibration
• multicameras (follow RPG in implementation)
• ROS wrapper

Tasks

1. Simple Visual Odometry pipeline (with thoughts about future upgrade to vSLAM): feature extraction, matching, pose estimation through Essential Matrix estimation, 3D visualization (pangolin)

Notes on some implementation details

• c++-17
• clang + its stdlib
• ninja instead make (google, at first)
• NO RAW POINTERS