Visual SLAM (GPS-denied)

Real-time stereo + IMU SLAM for indoor and drone navigation.

About this demo

Tightly-coupled visual-inertial SLAM using both RealSense streams plus the onboard IMU. Suitable for GPS-denied environments — basements, warehouses, drones flying indoors. Inspired by Andrew Bernas's GPS-denied drone build.

Highlights

→Stereo + IMU tightly coupled
→Loop closure on revisits
→Drift <0.5% over 1 km
→Works on Mini at full rate

Supported robots

DronesIndoor mobile robots

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