Visual-SLAM

Implementing SLAM from scratch in C++

Dependencies

CMake 3.0 or higher
Pangolin (For visualization)
Eigen (For linear algebra and geometry)
Sophus (Lie Algebra for optimization)
OpenCV (For image processing)
G2O (For curve fitting and optimization as graph problem)
Ceres (For curve fitting and optimization)

How to Build

Update CMakeLists.txt for libraries

$ mkdir build
$ cd build
$ cmake ..
$ make