Updated: 4th October 2018.

Computer Vision and Intelligence Group, IIT Madras

Blog: iitmcvg.github.io

This repository contains content that we use for CNN SLAM. Original paper

• Varun Sundar
• Aditya S
• Aaaryaan

1. Download Monodepth Checkpoints
2. Using Monodepth Infer
3. Install g2o

1. Heterogenous graphs; convert every CPU op into a compute graph and note performance with placement.
2. Stereo matching methods and GPU optimisation.
3. CPU efficient object detectors and depth estimators.
4. Indoor optimised depth estimation (monocular.)

• Complete camera pose estimation.
• Monocular depth methods library.
• Freeze graphs for inference.
• Sample runs.
• Global Graph Optimisation.

• Monodepth

1. Python Bindings for LSD SLAM
2. LSD SLAM
3. Python Bindings for ORB SLAM 2
4. ORB SLAM
5. DSO SLAM
6. A SLAM Primer