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You are talking about visual odometry. Some state-of-the-art algorithms are listed below.

For RGBD sensor:

http://felixendres.github.io/rgbdslam_v2/

http://wiki.ros.org/rtabmap

For Mono-Camera:

https://github.com/tum-vision/lsd_slam

https://github.com/raulmur/ORB_SLAM

You are talking about visual odometry. Some For depth only,

http://wiki.ros.org/loam_velodyne (code not available now)

http://sourceforge.net/p/slam6d/code/HEAD/tree/trunk/src/veloslam/ (SLAM 6D)

https://github.com/search?q=velodyne+slam&type=Code&utf8=%E2%9C%93

As for RGBD sensor, some state-of-the-art algorithms are listed below.

For RGBD sensor:

http://felixendres.github.io/rgbdslam_v2/

http://wiki.ros.org/rtabmap

For Mono-Camera:

https://github.com/tum-vision/lsd_slam

https://github.com/raulmur/ORB_SLAM