This project implements approximate implementations of quite a few common SLAM algorithms, all in Python and with GTSAM's python bindings.

Namely, the goal of this project is to reproduce, albeit not perfectly, the following common SLAM algorithms:

• ORB-SLAMv1
• KimeraSLAM(ignoring the IMU pre-integration; this project assumes monocular cams with no IMU, atleast for the time being)