Modular Python stereo visual SLAM pipeline for KITTI Odometry with ORB+RANSAC frontend, landmark mapping, GTSAM iSAM2 pose-graph optimization, loop closure, ATE/RPE evaluation, and Open3D ...
The following sections will guide you in setting up the code on your machine. The code was developed and tested on Linux with GCC 8.3.0 (C++17 support is required ...
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