VIO-SLAM Module

The state-of-the-art SLAM methods are somewhat difficult to grasp due to their complexity and unexpected tight couplings / leaky abstractions when trying to find out what the main parts are. This repository contains a SLAM module implementation that tries to coherently include relevant aspects of the SLAM pipeline.

See the design-document.pdf for details.

Contributors

Authors and contributors at Aalto University: Otto Seiskari, Pekka Rantalankila, Arno Solin, Jerry Ylilammi, Juho Kannala, Johan Jern

License

This SLAM module is based on OpenVSLAM, which was initially claimed by its authors to be licensed under a BSD-style permissive license, but later taken offline due to possible GPL-licensing violation in connection to the ORB-SLAM codebase. Therefore, this module is not suitable for commercial use, see the file openvslam/README.md for more details.