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 ...
All deep learning models were implemented in Python 3.8.10 with PyTorch 1.12.0, torchvision 0.13.0 and CUDA 11.6. Image preprocessing was performed with OpenCV 4.6.0 and scikit-image 0.19.3. Machine ...
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