Graph SLAM: VO, IMU Preintegration, Plane, Line
test_g2o_graph.cpp: Implementation of visual SLAM based on g2o.
frontend: VRO details in https://github.com/rising-turtle/visual_odometry
backend: g2o optimization https://github.com/RainerKuemmerle/g2o
test_gt_graph.cpp: Implementation of visual SLAM based on gtsam
test_plane_check_vo.cpp: check out distance of two measurements for the same plane
test_vro_imu_graph.cpp: Implementation of VIO+Plane SLAM
test_ba_imu_graph.cpp: different from test_vro_imu_graph.cpp generate matches using bundle adjustment
details explained in paper
- H. Zhang and C. Ye, “Plane-Aided Visual-Inertial Odometry for Pose Estimation of a 3D Camera based Indoor Blind Navigation,” to in Proceedings of 2017 British Machine Vision Conference.
generate PCD, PLY maps
generate video by showing the trajectories generated by different SLAM methods