• Ability to save/load maps generated.
• Ability to use markers to enhance, initialization, tracking, and long-term relocalization. Also, markers allow estimating the real map scale from monocular cameras.  It is integrated with the ArUco library.
• Robust relocalization in repetitive areas (corridors, buildings) using markers.
• Support for sequential mapping, ensuring no frames are dropped in the process. Also, the sequential mode guarantees a deterministic behavior. In other words, processing the same video sequence twice produces the same results.
• Our parallelized KeyPoint detector makes the tracking much faster that other approaches
• Only one external dependency, OpenCV. The rest of the required packages are in the library. The compilation is straightforward.
• Multiplatform, ready to be compiled in Windows, Linux and Android systems
• An easy-to-use graphical user interface to process your videos, save and visualize your maps, calibrating your camera, etc.
• PPA repository for Ubuntu and ready-to-use packages for Windows. You do not need to be a developer to use it.
• Good documentation and Video Tutorials

Download

@article{MUNOZSALINAS2020107193,
    title = "UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers",
    journal = "Pattern Recognition",
    pages = "107193",
    year = "2020",
    issn = "0031-3203",
    author = "Rafael Muñoz-Salinas and R. Medina-Carnicer", 
}

@article{MUNOZSALINAS2020107193,
    title = "UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers",
    journal = "Pattern Recognition",
    pages = "107193",
    year = "2020",
    issn = "0031-3203",
    author = "Rafael Muñoz-Salinas and R. Medina-Carnicer", 
}