Andrew Davison: Software
SceneLib 1.0 (May 2006) is the latest release of
my open source C++ library for real-time SLAM, and incorporates for the first time
full support for real-time MonoSLAM.
Matlab code for monocular SLAM which was developed in collaboration
with J. M. M. Montiel and Javier Civera from
the University of Zaragoza, Spain is now available on the SLAM Summer School
2006 webpage (click on Practicals from the menu). A full practical exercise on using this software is also available and it is a good way to start learning about MonoSLAM. In particular, this implementation highlights the new inverse depth feature parameterisation.
Release 0.81 of SceneLib (released June 2001) is still available. This
version is now unsupported and relies on some out of date libraries,
so I would not advise using it as the basis for development. What it
does offer which may still be of interest are precompiled executable
simulations in several different SLAM scenarios which serve as
tutorials for those new to SLAM. These should still run on any modern
Linux system.
Andrew Davison