This is the implementation of a robotic platform with monocular SLAM navigation. The main aim of this work is to improve feature matching algorithms used for camera positioning in a SLAM pipeline. The recent experiments are about using deep learning for SLAM, especially using the Local Feature Matching with Transformers for camera positioning.
Differential wheeled robot platform is based on the following hardware:
- NVIDIA Jetson Nano 2Gb
- Two 28BYJ-48 Stepper Motors with ULN2003 Drivers
- One usb-camera
- Powerbank
And as a software platform I use ROS.
SLAM example:
