LSD-SLAM: Large-Scale Direct Monocular SLAM

Large-Scale Direct SLAM is a SLAM implementation based on Thomas Whelan’s fork of Jakob Engel’s repo based on his PhD research. As such, this codebase still contains a large portion of Jakob’s original code, particularly for the core depth mapping and tracking, but has been re-architected significantly for readability and performance.

Contents:

• Architecture and Process Flow
• Code Documentation
  • Class Hierarchy
  • File Hierarchy
  • Full API

License

A per Jakob’s original code, LSD-SLAM is released under the GPLv3 license. TU-Munich has offered a licensable version in the past although I am not aware of the current state of this arrangement.

Indices and tables

• Index
• Module Index
• Search Page