ISAAC SDK comes with its own visual SLAM based localization technology called Elbrus, which determines a 3D pose of a robot by continuously analyzing the information from a video stream obtained from a stereo camera and optional IMU readings.
Contents
- Elbrus Stereo Visual SLAM based Localization
- Architecture
- Embedded Undistortion
- Embedded Denoising
- Inertial Measurement Unit (IMU) integration
- SLAM vs Pure Visual Odometry
- Using the Stereo Camera Sample Applications
- Source Code
- Using the Simulator Sample Applications
- Using the elbrus_visual_slam_sim_lidar Sample Application with Isaac Sim Unity3D
- Using the elbrus_visual_slam_sim_joystick Sample Application with Isaac Sim Unity3D
- Using the elbrus_visual_slam_sim_lidar Sample Application with Isaac Sim Omniverse
- Using the elbrus_visual_slam_sim_joystick Sample Application with Isaac Sim Omniverse
- Record/Replay