Simple SLAM

1. Monocular Visual Odometry

This uses data from the KITTI Visual Odometry Challenge.

The goal of this step is to obtain initial poses and landmarks relative to the poses.

2. SLAM

The KITTI data contains loop closures which can be used to close the factor graph and optimize the entire path. Using the optimized poses, a map of the landmarks can be build.

This map could then be used downstream to plan new paths in the environment.

Data

Place the image sequence in data/ directory under the root of this project.

Build

cmake -S . -B build
cmake --build build -j4