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stereo_slam is a ROS node to execute Simultaneous Localization And Mapping (SLAM) using only one stereo camera. The algorithm was designed and tested for underwater robotics. This node is based on the [[http://wiki.ros.org/g2o|G2O]] library for graph optimization and uses the power of [[https://github.com/srv/libhaloc|libhaloc]] to find loop closures between graph nodes. It uses a keyframe to multi-keyframe loop closing mechanism, based on keypoint clustering, to improve the SLAM corrections on feature-poor environments.

See the documentation on [[https://github.com/srv/stereo_slam|Github]].

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