SLAM-RS

Trying to implement a SLAM system in Rust.

Dependencies

• OpenCV
• nalgebra
• bevy
• serde

Usage

Build with Cargo:

cargo build --release

Run visual odometry example:

# Use default KITTI intrinsics
cargo run --example visual_odometry /path/to/video.mp4

# Specify custom camera intrinsics
cargo run --example visual_odometry /path/to/video.mp4 -- --fx 500 --fy 500 --cx 320 --cy 240

Modules

• feature: ORB feature detection and matching
• odometry: Camera intrinsics, pose estimation, trajectory tracking

See TODO for development status.