This project provides a minimal SLAM architecture in order to study the underlying optimization procedures. In particular, we investigate both optimization-based and EM-based algorithms. For demonstration, we use EuRoC dataset.
You will need to install the following dependencies,
-
CMake,
sudo apt-get install cmake
-
Eigen3,
sudo apt-get install libeigen3-dev
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Boost,
sudo apt-get install libboost-dev libboost-filesystem-dev
-
ceres
To build this project, just follow standard CMake procedure.
mkdir build
cd build
cmake [-DBUILD_TEST=OFF] ..
cmake --build .