Author: Solà
Year: 2012
- open source c++ library focused on genericity, and high execution speed
- data structure: world, map, robot, sensors, observatins ~ WOLF
- EKF SLAM as back end with efficient indexing
- data manager ~ processor
- map manager: maintain the map at a reasonnable size, remove poor landmarks
- active search: constraint search area where landmark can be found
- one point RANSAC: modification of RANSAC that uses EKF to obtain a whole model with less points
- lmk parametrized with Anchored inverse depth
$(x_0, ray_0, \rho)$ in the beginnning (7DOF) then switched to Euclidean paramtrization when the pose has converged - Harris KP with ZNCC for matching, robust to viewpoint change by using its predicted appearance
- test with constant velocity motion model and VIO