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.