Orb feature based SLAM (simultaneous localization and mapping) using OpenCV for feature extraction and pose estimation, g2o for bundle adjustment, and OpenGL for visualization.
Note: This was performed on macOS by installing g2opy with: pip install g2o-python. The original g2opy is buggy in downloading with mac and the syntax in this g2opy version I used may be different when performing bundle adjustment.
To run the code: python orb_slam.py
References from other monocular orb based SLAM implementations: https://github.com/geohot/twitchslam https://github.com/Akbonline/SLAMPy-Monocular-SLAM-implementation-in-Python/blob/master/slam.py