CH13 SLAM for Robotics Course - ORB-SLAM algorithm details, Pose Graph Optimization, (SIFT, ORB)
Simultaneous Localization and Mapping (SLAM) Course
In this Chapter:
Mapping (No Uncertainty)
Mapping (with uncertainty)
Pose Graph Optimization
Visual Features Extraction (SIFT, BRIEF, and ORB)
Bundle Adjustment (BA)
Visibility and Covisibility Graph
ORB-SLAM (Accurate Monocular SLAM)
Aim of this chapter:
In this chapter, we focus on Visual Features Extraction algorithms and learn the fundamental elements required to know the state-of-the-art algorithm of ORB-SALM.