CH13 SLAM for Robotics Course - ORB-SLAM algorithm details, Pose Graph Optimization, (SIFT, ORB)

Simultaneous Localization and Mapping (SLAM) Course In this Chapter: - Mapping (No Uncertainty) - Mapping (with uncertainty) - Pose Graph Optimization - Visual Features Extraction (SIFT, BRIEF, and ORB) - Bundle Adjustment (BA) - Visibility and Covisibility Graph - ORB-SLAM (Accurate Monocular SLAM) Aim of this chapter: In this chapter, we focus on Visual Features Extraction algorithms and learn the fundamental elements required to know the state-of-the-art algorithm of ORB-SALM.