== Experiences in Building a Visual SLAM System from Open Source Components ==
[[en/ChristophHertzberg|Christoph Hertzberg]], [[en/ReneWagner|René Wagner]], [[en/OliverBirbach|Oliver Birbach]], Tobias Hammer, and [[en/UdoFrese|Udo Frese]]

=== Abstract ===
This paper shows that the field of visual SLAM
has matured enough to build a visual SLAM system from open
source components. The system consists of feature detection,
data association, and sparse bundle adjustment. For all three
modules we evaluate different libraries w.r.t. ground truth.

We also present an extension of the SLAM system to
create dense voxel-maps. It employs dense stereo-matching and
volumetric mapping using the poses obtained from bundle
adjustment, both implemented with open source libraries.

Apart from quantitative comparison we also report on
specific experiences with the various libraries.

=== Paper ===
The paper as submitted to [[http://icra2011.org | ICRA 2011]] is [[http://www.informatik.uni-bremen.de/agbkb/publikationen/bibsearch/detail_e.htm?pk_int=2824|available here]] ([[http://www.informatik.uni-bremen.de/agebv/downloads/published/hertzberg_icra_11.pdf|PDF]]).

=== Video ===
[[http://www.informatik.uni-bremen.de/agebv/downloads/videos/hertzberg_icra_2011.mp4|{{attachment:Screenshot-hertzberg_icra_2011.png}}]]

=== Data Sets and Source Code ===
Here you can download the [[http://www.informatik.uni-bremen.de/agebv/pub/vslam/vslam.tar.gz|source code (5.5MiB)]] and [[http://www.informatik.uni-bremen.de/agebv/pub/vslam/data.tar.gz|data sets (994MiB)]].

If you have any problems building the program or running the data sets, do not hesitate to contact us.