graph_slam

Graph SLAM: VO, IMU Preintegration, Plane, Line

g2o

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

gtsam

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.

mapping

generate PCD, PLY maps
generate video by showing the trajectories generated by different SLAM methods