stereo-vo

A C++ library for stereo visual odometry: Robust Stereo visual Odometry (RSO). For a complete SLAM system based on this library, check out srba-stereo-slam.

Documentation

• Doxygen API reference
• References:
  • Moreno, F.A. and Blanco, J.L. and Gonzalez, J. A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM, International Journal of Robotics Research, 2016. (In Press)
  • Moreno, F.A. Stereo Visual SLAM for Mobile Robots Navigation, PhD Thesis, 2015. (PDF)

Building from sources

Prerequisites

• CMake (>=2.4.5)
• MRPT (>=1.0.0, recommended >=1.3.0)
• OpenCV (>=2.4.8, recommended >=3.0.0)

They can be installed in recent Debian or Ubuntu distributions (Trusty 14.04 minimum) with:

sudo apt-get install build-essential cmake libmrpt-dev libopencv-dev

Note: Better efficiency can be achieved if MRPT and OpenCV are compiled from sources instead of grabbed with apt-get by instructing the compiler to optimize for native architecture. You can also install optimized MRPT builds from this PPA repository.

Compiling

As usual with CMake, create an empty build directory, call cmake and make or build from your favorite IDE (e.g. Visual Studio in Windows).