SFM and Visual SLAM

Implemented Visual SLAM package and built 3D trajectory as well as 3D point cloud map.

1. Structure From Motion(SFM): implemented Triangulation, PnP and Bundle Adjustment manually with Jacobian for camera state and 3D landmarks estimation and optimization. source code
2. Visual SLAM Package on a Quadrotor: based on SFM structure, succeeded to implement Visual Odometry(VO), applied local BA(Bundle Adjustment) and combined g2O package to increase the SLAM efficiency as well as performance. source code