Beginning of the London dataset

Real-time relative SLAM using head mounted stereo camera. This is the start of the 121km data set from Oxford to London.

The red, green and blue graph shows the x-, y-, z-axis which describes the camera position over time. Here +x is forward, +y is right and +z is down (standard aerospace convention).

Video demonstrates a robust stereo-vision SLAM system running at 20-40hz on 512x384 greyscale images. Real-time loop closure is automatic, with distinct places detected using a vocabulary of true scale descriptors and fast appearance based mapping (FABMAP). Using Relative Bundle Adjustment (RBA), the system can run incrementally in constant-time -- even at loop closure.

See http://www.robots.ox.ac.uk/RelativeSLAM for more

Category:

Science & Technology

Tags:

• Visual SLAM
• long-term autonomy
• scalable SLAM
• robotics
• vision

[gsibley]

@kanabalize It's all written in c/c++

[kanabalize]

Hi may i know what programming language you used?