The visual SLAM for equirectangular cameras (e.g. RICOH THETA series, insta360 series, etc)

The solution is based on Stella-SLAM, which is a community fork of OpenVslam.

Requirement

1. Stella-SLAM
2. Pangolin viewer.
3. Linear algebra library Eigen
4. Graph optimization library g2o
5. Visual Vocabulary,Fast Bag of Words FBoW
6. OpenCV

Results

Results are shown in the folder results :

1. Trajectory of the camera in the TUM form:

    tx,ty,tz,qx,qy,qz,qw
   

2. Point cloud of the map in PLY form.

Demo Video