Contents
A naive algorithm to solve monocular SLAM problem in C++ using Baxter robot.
- Enable the Baxter robot and open its camera.
rosrun baxter_tools enable_robot.py -e
rosrun baxter_interface joint_trajectory_action_server.py --mode position
rosrun baxter_tools camera_control.py -o left_hand_camera -r 1280x800
- Save the pictures.
rosrun MonocularSLAMBaxter vision.py
- Let the robot move.
rosrun MonocularSLAMBaxter move.py
- Process the data collected.
Compile and execute dense_mapping.cpp .
Feature extraction and matching.
The depth image after 5 iterations.
The depth image after 100 iterations.
