simple-SLAM

A crappy visual SLAM implementation I'm working on to learn stuff. Still a work in progress.

refactor coming at some point

todo

add keyframes
refactor everything
figure out what bundle adjustment is

how to use

not sure if I can share the datasets i'm using, so just put any video file in the vids/ folder
currently only have visual odometry barely working, so just run python stream.py to see it working

want to learn more about slam/visual odometry?

check out Multiple View Geometry by Hartley & Zissermann
Avi Singh's visual odometry projects
twitchslam by geohot
UZH and ETH Zurich's course (Vision Algorithms for Mobile Robotics)
S-PTAM, PTAM, ORB-SLAM, LSD-SLAM
- papers and code are super useful
OpenCV references in API documentation
- look in the SFM modules

dependencies

OpenCV
Numpy
Scikit-image
pangolin (we use uoip's fork for its bindings, since its a bit more python-friendly and intuitive)
- https://github.com/uoip/pangolin

LOICENSE

MIT license. Do what you want with it, but please attribute my work if you do. Also don't sue me.