Stereo Structure and Motion (SaM / SfM) library

Egomotion

• Implemented using Ceres Solver, two basic variants with Quaternions and Euler angles
• Examples in stereo_egomotion/main

Dense stereo

• Implementation of Semi-global matching in reconstruction/base
• Examples in reconstruction/main

Feature tracking

• Monocular and steresopic variants.
• Implementation in tracker directory

Publications

• Improving the Egomotion Estimation by Correcting the Calibration Bias
• Code in deformation_field