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ransac_slam

An open source SLAM system (EKFmonocularSLAM) that is rewritten in C++ in combination with ROS, Eigen.

Image text

Learn from

（1）EKFmonocularSLAM on OpenSLAM : https://openslam-org.github.io/ekfmonoslam.html

（2）EKFmonocularSLAM on github ： https://github.com/OpenSLAM-org/openslam_ekfmonoslam

（3）paper
[1] Javier Civera, Oscar G. Grasa, Andrew J. Davison, J. M. M. Montiel, 1-Point RANSAC for EKF Filtering: Application to Real-Time Structure from Motion and Visual Odometry, to appear in Journal of Field Robotics, October 2010.

An introduction

I wrote a blog on CSDN : https://blog.csdn.net/qq_36355662/article/details/84938284

Hardware/Software Requirements

1.ubuntu
14.04 or 16.04
2.ROS
indigo or kinetic
3.Eigen
sudo apt-get install libeigen3-dev
#添加头文件
include_directories("/usr/include/eigen3")
4.opencv 3.2.0

5.vision_opencv package
$ git clone https://github.com/ros-perception/vision_opencv.git

How to start ?

$ roslaunch ransac_slam ransac_slam.launch