A fundamental SLAM system with tracking, mapping and pose optimization in Matlab. It includes SIFT & Harris feature extraction, 7/8 points, homograph method, and LevenBerg-Marquardt average error for pose optimization.
A fundamental SLAM system with tracking, mapping and pose optimization in Matlab. It includes SIFT & Harris feature extraction, 7/8 points, homograph method, and LevenBerg-Marquardt average error for pose optimization.