Theoretical Background

Posted by nismo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Theoretical-Background-tp2586.html

Hello ,
I am a beginner in the visual SLAM area and I stumbled upon RTAB-Map. After trying it with ROS and a stereo camera I was impressed with results.But, I am having trouble understanding the principles and the theoretical background that it uses so that I can describe it to others. Is it a particle filter - graph based SLAM mixture? because I see some particle filtering used in the code but I cannot really figure it out... would you mind giving me an overview of the system (reminder : I use stereo).
Thank you very much in advance!