PTAM (Parallel Tracking and Mapping) re-released under GPLv3.
PTAM is a monocular SLAM (Simultaneous Localization and Mapping) system useful for real-time 6-DOF camera tracking in small scenes. It was originally developed as a research system in the Active Vision Laboratory of the University of Oxford, as described in the following papers:
- Georg Klein and David Murray, "Parallel Tracking and Mapping for Small AR Workspaces", Proc. ISMAR 2007
- Georg Klein and David Murray, "Improving the Agility of Keyframe-based SLAM", Proc. ECCV 2008
Use the included script ./utils/make.sh or follow these steps:
- create a build-directory and change to it:
mkdir build && cd build - run cmake:
cmake .. - build:
make
PTAM was initially released in 2008 by Isis Innovation under a license suitable for academic use. That version is also available for commercial use subject to a license agreement with Isis Innovation. That version remains available here: http://www.robots.ox.ac.uk/~gk/PTAM/
This code represents a re-licensed fork of Isis Innovation's PTAM Source Code Release v1.0-r114.