MultiCol-SLAM with loop closing and re-localization

The code is available here: github.com/urb...
This video demonstrates MultiCol-SLAM a multi-camera SLAM framework.
It is originally based on ORB-SLAM and capable of performing tracking, mapping, loop closing and re-localization for arbitrarily coupled multi-camera systems.
It works with different central cameras (perspective, fisheye, omnidirectional).

[@yiminlin4244]

Do you synchronize the output of multiple cameras ?

[@stef8731]

We used hardware synchronized cameras in the experiments.