Search Results for "odometry"

...The repository teaches the mathematical and programming foundations required to understand visual SLAM implementations. Its C++ exercises cover geometry, Lie theory, cameras, image processing, optimization, visual odometry, mapping, and loop closure. Chapter folders let readers study individual techniques before connecting them into broader localization and mapping pipelines. Supplemental files include errata, exercise solutions, notes, figures, and small demonstrations of matrix and coordinate operations. It is intended for hands-on study and provides a clearer upgrade path than the original edition.

...It then implements point-cloud processing, nearest-neighbor structures, ICP, NDT, scan matching, occupancy grids, and loop closure. Readers build both loosely coupled and tightly coupled LiDAR-inertial odometry systems. Later modules cover offline mapping, backend optimization, tiled map export, map loading, initialization, and fused real-time localization. The repository includes configuration files, Docker support, demonstrations, and datasets for urban, campus, road, mall, and solid-state LiDAR scenarios.

...The material progresses from Linux, CMake, rigid-body motion, Eigen, Lie groups, and camera models to complete SLAM components. It demonstrates nonlinear optimization with Ceres and g2o, feature-based visual odometry, and direct visual odometry. Later sections cover backend optimization, pose and factor graphs, loop closure, and dense reconstruction. A larger project directory combines concepts that are introduced separately in earlier chapters. The repository is educational rather than a ready-made production system and is distributed under the MIT License.