Monocular, Stereo, and RGBD Visual SLAM System

[QueenofUSSR]

Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

• I agree to contribute to the project under Apache 2 License.
• To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
• The PR is proposed to the proper branch
• There is a reference to the original bug report and related work
• There is accuracy test, performance test and test data in opencv_extra repository, if applicable
  Patch to opencv_extra has the same branch name.
• The feature is well documented and sample code can be built with the project CMake

OpenCV VSLAM Module

Monocular, stereo, and RGBD visual SLAM system for OpenCV.

Features

• Multiple camera models: Perspective, fisheye, equirectangular
• Map save/load: Store and reuse pre-built maps
• Localization mode: Re-localize in pre-built maps
• Loop closure: Detect and correct drift using place recognition
• Backend optimization: Sliding window bundle adjustment
• Modular design: Pluggable feature detectors and matchers

Quick Start

#include <opencv2/slam.hpp>
#include <opencv2/features2d.hpp>

// Create feature detector and matcher
auto orb = cv::ORB::create(1000);
auto matcher = cv::BFMatcher::create(cv::NORM_HAMMING);

// Configure SLAM
cv::vo::VOConfig config;
config.camera_config_file = "camera.yaml";
config.vocab_file = "orb_vocab.fbow";
config.enable_backend = true;
config.enable_loop_closure = true;

// Create SLAM system
auto slam = cv::vo::VisualOdometry::create(config, orb, matcher);

// Process frames
for (const auto& frame : frames) {
    auto pose = slam->processFrame(frame.image, frame.timestamp);
    if (pose.has_value()) {
        // Use pose
    }
}

// Save map
slam->saveMap("map.msgpack");

// Cleanup
slam->release();

Examples

See samples/cpp/ directory for complete examples:

• full_slam.cpp - Complete SLAM pipeline
• localization_mode.cpp - Localization with pre-built map
• map_save_load.cpp - Map save/load demonstration

Build

cd opencv_contrib_slam/modules/slam/build
cmake -DBUILD_SAMPLES=ON ..
make -j4

Documentation

• Detailed documentation
• Benchmarks

License

BSD-2-Clause license

Based on stella_vslam (BSD-2-Clause)