Mono-Slam Implementation in ROS

This repository implements the mono-slam algorithm first introduced by Andrew Davison, and is the final outcome of the M.Sc. Thesis of Ludovico O. Russo in the 2013.

Reference: Russo L.O., Rosa S., Bona B., Matteucci M., "A ROS implementation of the mono-slam algorithm", International Journal of Computer Science & Information Technology, Vol. 6 Issue 1, p339

Notes:

• for some of the jacobian calculation there's a Jupyter notebook explain the result with the use of Sympy , to confirm the resulting formula, here

• Tested with Ros-Kinetic

Usage:

$ rosrun mono-slam mono-slam configuration.cfg /image:=/your_image_topic

configuration file contains parameters for the mono-slam algorithm and camera calibration. Sample configuration files are provided in the "conf" folder

Example videos

• https://www.youtube.com/watch?v=Cf0iKfhnyu4
• https://www.youtube.com/watch?v=Jjmm9yZY3kA
• https://www.youtube.com/watch?v=ANNwb4NqlIM