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Mini Slam

Toy implementation of the Visual Simultaneous Localization and Mapping (SLAM) algorithm in Rust with a trick up its sleeve. This implementation of VSLAM utilizes a dense depth model proposed in the paper High Quality Monocular Depth Estimation via Transfer Learning (arXiv:1812.11941) for the mapping component.

Building

Make sure you have cargo and rust installed.

MacOS

To run this make sure you have Xcode 14 installed. To build this project run:

$ cargo build

To run this project:

$ cargo run datasets/vids/test_ohio.mp4