PySLAM

A toy SLAM implmenetation in python.

Heavily inspired by geohot's twitchslam

Requirements

• g2o

Setup

pip3 install -r requirements.txt

Usage

python3 PySLAM/slam.py./slam.py data/country-road-driving.mp4

Theory

• Understanding Monocular SLAM implementation in Python OpenCV

Known Issues

• 3D points are wrong when it comes to actual shapes (check freiburgdesk example)

TODO

• Use matches to avoid duplicate 3D points
• Bundle Adjustment (DONE)
• Loop Closure
• Pose Graph Optmiziation