单目SLAM

单目SLAM应用3D UE地下停车场仿真数据，MATLAB中旋转矩阵规范请点击此处文档。

Dataset

点击此处下载。

Result

orb-feature match:

EstimatedTrajectory vs actual trajectory，位置误差约1m/100m

References

1. matlab official vSLAM
2. Useful tools for the RGB-D benchmark
   
3. Coordinate Systems in Automated Driving Toolbox
   
4. Coordinate Systems for Unreal Engine Simulation in Automated Driving Toolbox
5. Localization Algorithms
6. 导航系统中里程计研究综述