RT-SLAM: A Generic and Real-Time Visual SLAM Implementation

TL;DR

RT-SLAM is an open-source, real-time C++ implementation of visual SLAM that is highly versatile, supporting multiple sensors and landmark types, and demonstrates improved performance in dynamic scenarios.

Contribution

It introduces a generic, object-oriented architecture for SLAM that integrates various sensors and approaches, with specific enhancements for inertial/vision SLAM in dynamic conditions.

Findings

Supports multiple sensors and landmark types

Achieves high execution speed in real-time applications

Handles high dynamic motions effectively

Abstract

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.