├── Dataset ├── 000000.JPEG ├── 000001.JPEG ├── 000002.JPEG ├── 000003.JPEG ├── 000004.JPEG ├── 000005.JPEG ├── 000006.JPEG ├── 000007.JPEG ├── 000008.JPEG ├── 000009.JPEG ├── 000010.JPEG ├── 000011.JPEG ├── 000012.JPEG ├── 000013.JPEG ├── 000014.JPEG ├── 000015.JPEG ├── 000016.JPEG ├── 000017.JPEG ├── 000018.JPEG ├── 000019.JPEG ├── 000020.JPEG ├── 000021.JPEG ├── 000022.JPEG ├── 000023.JPEG ├── 000024.JPEG ├── 000025.JPEG ├── 000026.JPEG ├── 000027.JPEG ├── 000028.JPEG ├── 000029.JPEG ├── 000030.JPEG ├── 000031.JPEG ├── 000032.JPEG ├── 000033.JPEG ├── 000034.JPEG ├── 000035.JPEG ├── 000036.JPEG ├── 000037.JPEG ├── 000038.JPEG ├── 000039.JPEG ├── 000040.JPEG ├── 000041.JPEG ├── 000042.JPEG ├── 000043.JPEG ├── 000044.JPEG ├── 000045.JPEG ├── 000046.JPEG ├── 000047.JPEG ├── 000048.JPEG ├── 000049.JPEG ├── 000050.JPEG ├── 000051.JPEG ├── 000052.JPEG ├── 000053.JPEG ├── 000054.JPEG ├── 000055.JPEG ├── 000056.JPEG ├── 000057.JPEG ├── 000058.JPEG ├── 000059.JPEG ├── 000060.JPEG ├── 000061.JPEG ├── 000062.JPEG ├── 000063.JPEG ├── 000064.JPEG ├── 000065.JPEG ├── 000066.JPEG └── 000067.JPEG ├── LICENSE ├── PSO Code ├── Altd.m ├── S_Region(p_s).mat ├── S_Region.mat ├── Test_sensitivity │ ├── Results │ │ ├── 1.fig │ │ └── 2.fig │ └── Test_Sensitivity.m ├── Test_waypoints.m ├── bestpaths.mat ├── f_cell.m ├── fitness.m ├── fitnessP_S.m ├── main.m ├── plotfigure.m ├── pso.m ├── terrain_figure.m └── updateSAI.m ├── README.md └── Visual SLAM Code ├── Image_Pre_Processing_by_umair_Khattak.m ├── VSLAM_main.m ├── bagOfFeaturesData.mat ├── helperAddLoopConnections.m ├── helperAddNewKeyFrame.m ├── helperCheckLoopClosure.m ├── helperCreateNewMapPoints.m ├── helperExtractorFunction.m ├── helperFindProjectedPointsInImage.m ├── helperHammingDistance.m ├── helperLocalBundleAdjustment.m ├── helperMapPointSet.m ├── helperMatchFeaturesInRadius.m ├── helperSURFFeatureExtractorFunction.m ├── helperSelectStrongConnections.m ├── helperTrackLastKeyFrame.m ├── helperTrackLocalMap.m ├── helperVisualizeMatchedFeatures.m ├── helperVisualizeMotionAndStructure.m └── orbslamGroundTruth.mat /Dataset/000000.JPEG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uamughal/PSO-VSLAM/HEAD/Dataset/000000.JPEG -------------------------------------------------------------------------------- /Dataset/000001.JPEG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uamughal/PSO-VSLAM/HEAD/Dataset/000001.JPEG -------------------------------------------------------------------------------- /Dataset/000002.JPEG: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uamughal/PSO-VSLAM/HEAD/Dataset/000002.JPEG -------------------------------------------------------------------------------- /Dataset/000003.JPEG: -------------------------------------------------------------------------------- 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