KLT-SLAM

This project builds upon a simplified version of ORB-SLAM3, originally developed for educational purposes in the SLAM course of the Master's Program in Robotics, Graphics, and Computer Vision. In this repository, the Lucas-Kanade algorithm for pose tracking and optimization was integrated from the NR-SLAM framework.

DataSets

This project has dataset loaders for the TUM and Euroc datasets.

Features

This project supports Shi-Tomasi and Fast Keypoints as well ORB descriptors.

Building the Project

For building the project:

chmod +x build_thirdparty.sh
chmod +x build_SLAM.sh 
./build_thirdparty.sh
./build_SLAM.sh

Running the project

TUM Dataset

./Apps/mono_tumrgbd datasetpath ./Data/TUMRGBD.yaml

Euroc Dataset

./Apps/mono_euroc datasetpath timestampspath