Modularity

High level SLAM

Different approaches to tracking and mapping are available, as well as modules such as loop detection and closure, relocalisation and bundle adjustment.

Mid-level computer vision

Efficient implementations of various point matching mechanisms, stereo matchers and pose estimation. All are highly configurable and optimised, utilising better algorithms unavailable in the public domain.

Low-level image processing and maths

Highly optimised versions of common vision processing building blocks such as various blurs, interpolations and image warps. These are typically SIMD optimised and provide far superior performance compared to OpenCV. We also provide our own linear algebra library.

Companion modules

While our focus is on SLAM itself, it’s often useful to have different modules to help with integration. We provide a GUI library designed for cross-platform computer vision debugging and as well as well as modules to work with the generated SLAM maps.