RT-SLAM: A Generic and Real-Time Visual SLAM Implementation
This work provides a generic and real-time SLAM tool for robotics and computer vision researchers, though it appears incremental as it integrates existing approaches with some enhancements.
The authors introduced RT-SLAM, an open-source C++ implementation for visual SLAM that emphasizes genericity, versatility, and high speed, demonstrating results with a hand-held camera for inertial/vision SLAM with improvements to handle high dynamic motions.
This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.