PTAM-inspired Visual Odometry

The goal of this work is the creation of nodes for the ROS environment that are able to create the map of the environment around the robot and to calculate an estimation of the position and the orientation (which union defi nes the pose) of the robot, based on the images received by 2 cameras mounted on the robot with a known relative position (of a camera with respect to the other, also called baseline) and the map. In this work two nodes are used: a Mapper node which creates the map that represents the environment around the robot and a Tracker node which estimates the pose of the robot basing on the map created by the Mapper node.