UcoSLAM

UcoSLAM is a library for Simultaneous Localization and Mapping using keypoints that able to operate with monocular cameras, stereo cameras, rgbd cameras. Additionally, our library is fully integrated with the ArUco library for detecting squared fiducial markers. They can be placed in the environment to improve tracking.

Main feafures:

UcoSLAM is a complete reimplementation of ORBSLAM2, with additional features such as:

* Ability to save/load maps generated.
* Ability to use markers to enhance, initialization, tracking, and long-term relocalization. Also, markers allow estimating the real map scale from monocular cameras.  It is integrated with the ArUco library.
* Support for sequential mapping, ensuring no frames are dropped in the process. Also, the sequential mode guarantees a deterministic behaviour. In other words, processing the same video sequence twice produces the same results.
* Parallelization of the KeyPoint detector makes the tracking much faster
* Only one external dependency, OpenCV. The rest of the required packages are in the library. The compilation is straightforward.
* Multiplatform, ready to be compiled in Windows, Linux and Android systems
* An easy-to-use graphical user interface to process your videos, save and visualize your maps, calibrating your camera, etc.
* PPA repository for Ubuntu and ready-to-use packages for Windows. You do not need to be a developer to use it.

More info

Please visit ucoslam.com for more info