Steven Waslander

(SIFT, SURF, GPU-SURF, CENSURE, DAISY, ORB, all OpenCV options) implement as launch parameter options, particularly GPU options are exciting.

Allow for better predictions.

We want to test each aspect of the default install on existing bag data. The camera calibration and actual running of MCPTAM both need to be added. Two issues, one...

We want to test each aspect of the default install on existing bag data. The camera calibration and actual running of MCPTAM both need to be added. Two issues, one...

Currently all parameters are in a single launch file, but they need to be tuned for each setup. The parameters that are camera dependent should be identified, and then moved...

Issues in the lab seem to indicate that keyframes are not being added well for narrow FOV cameras. Add in better keyframe selection using CPER method.