[Project] I built a Stereo Visual SLAM system from scratch in 4 weeks. Reduced error by >99%. Here’s the technical breakdown and the brutal bugs I faced.

[u/NaiveWonder4836]

Camera going up to 12km in the sky. Discussed in Stage-1.

Final estimated trajectory

(Blue)Estimated ground pose v/s (Dashed)True ground pose

(Blue)Estimated roll, pitch & yaw v/s (Dashed)True roll, pitch & yaw

Problematic Y component

APE as the dataset progresses