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README.md

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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