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.