Visual Slam Project Collection

This is a collection of my visual slam projects

Camera Calibration

Triangulation

Essential Matrix

Gauss-Newton Curve Fitting

$$ \min \limits_{a,b,c} \frac{1}{2}\sum\limits_{i = 1}^N {{{\left| {{y_i} - \exp \left( {ax_i^2 + bx_i + c} \right)} \right|}^2}} . $$

VIO (Visual Odometry)

Bundle Adjustment

Before optimization	After optimization