Simple Slam

Visual Slam implementation for practice. Used orb features (Akaze can also be used) as sift feature extraction was slowing down the process.

How to run

StartFrame=0 F=270 DownScale=4 ./main.py videos/<Video>.mp4

• F is focal lenght
• StartFrame seeks from the frame specified
• DownScale downsize the image i.e 2 means half of the image

Built With

• Python3
• PyGame
• OpenCV
• NumPy

To-do

• Triangulation
• pangolin for 3-D display
• g2opy for optimization

Acknowledgements

• GeoHotz