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Stereo_SLAM_AR

This is SLAM AR with ZED Stereo Camera on Ubuntu 14.04.

It runs as MarkerLess-AR mode at first, press 'space' button to start SLAM-AR mode.

<p align="center"> <img src="https://github.com/ygx2011/Stereo_SLAM_AR/blob/master/pic/StereoSLAMAR.png?raw=true" alt="StereoSLAMAR" width="260" height="180" border="50"/> </p>

This is the demo video: http://v.youku.com/v_show/id_XMTU2Mjk1MjMyOA==.html?spm=a2hzp.8253869.0.0

During the video, it is running on my Mac, without using ZED Stereo Camera.

I used a stereo camera made by myself.

If you want to make your own stereo camera, you need to calibrate your camera and use your own camera parameters.

<p align="center"> <img src="https://github.com/ygx2011/Stereo_SLAM_AR/blob/master/pic/StereoCamera.png?raw=true" alt="StereoCamera" width="335" height="375" border="50"/> </p>

Besides, if you want to make it work on monocular, you can check ORB_SLAM2 for updates.

<p align="center"> <img src="https://github.com/ygx2011/Stereo_SLAM_AR/blob/master/pic/MonoAR.png?raw=true" alt="MonoAR" width="420" height="255" border="50"/> </p>