The visual SLAM for equirectangular cameras (e.g. RICOH THETA series, insta360 series, etc)
The solution is based on Stella-SLAM, which is a community fork of OpenVslam.
Requirement
- Stella-SLAM
- Pangolin viewer.
- Linear algebra library Eigen
- Graph optimization library g2o
- Visual Vocabulary,Fast Bag of Words FBoW
- OpenCV
Results
Results are shown in the folder results :
-
Trajectory of the camera in the TUM form:
tx,ty,tz,qx,qy,qz,qw -
Point cloud of the map in PLY form.
Demo Video
