visual_slam

Description

Visual SLAM example for beginner

Currently, only visual odometry has been implemented

Dependency

• Ubuntu 22.04
• OpenCV 4.8.1
• Eigen : 3.3.8
• Sophus : 1.22.10
• glew : 2.1.0
• Pangolin v0.6
• g2o

if you use docker, build dockerfile

git clone https://github.com/ai-robotics-kr/2024-visual-slam.git
cd visual_slam
docker build -t slam .

Docker run

docker run -it -d --name=slam --privileged --network=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw -e DISPLAY=$DISPLAY --shm-size=8G --ipc=host -v /dev/shm:/dev/shm slam

How to Usage in local

git clone https://github.com/ai-robotics-kr/2024-visual-slam.git
cd visual_slam
mkdir build
cd build
cmake ..
make
../bin/MAIN

Reference

slambook2 : https://github.com/gaoxiang12/slambook2