https://github.com/kafetzisthomas/tinyslam

A minimalist implementation of monocular SLAM.
https://github.com/kafetzisthomas/tinyslam

computer-vision opencv opencv-python python slam

Last synced: 29 days ago
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A minimalist implementation of monocular SLAM.

• Host: GitHub
• URL: https://github.com/kafetzisthomas/tinyslam
• Owner: KafetzisThomas
• License: mit
• Created: 2024-11-30T16:40:58.000Z (about 2 months ago)
• Default Branch: main
• Last Pushed: 2024-12-02T12:23:19.000Z (about 2 months ago)
• Last Synced: 2024-12-22T14:16:20.156Z (29 days ago)
• Topics: computer-vision, opencv, opencv-python, python, slam
• Language: Python
• Homepage:
• Size: 58 MB
• Stars: 0
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# tinyslam

**What is this?**  

A minimalist implementation of monocular SLAM, inspired by [twitchslam](https://github.com/geohot/twitchslam). Created as a learning project to understand the basics of SLAM.

## Usage

```bash

$ pip3 install -r requirements.txt

$ python3 main.py < video_file.mp4 >

```

## How It Works

The process is broken into clear modular steps:

1. **[Load video file](https://github.com/KafetzisThomas/tinyslam/blob/main/tests/load_video.py):** Reads the input video for processing.

2. **[Grayscale conversion](https://github.com/KafetzisThomas/tinyslam/blob/main/tests/grayscale.py):** Converts the frames to grayscale to simplify processing.

3. **[Gaussian blur](https://github.com/KafetzisThomas/tinyslam/blob/main/tests/gaussian_blur.py):** Reduces noise for better edge detection.

4. **[Edge detection](https://github.com/KafetzisThomas/tinyslam/blob/main/tests/edge_detection.py):** Detects edges in the blurred frames.

5. **[Region of interest (ROI) extraction](https://github.com/KafetzisThomas/tinyslam/blob/main/tests/region_of_interest.py):** Focuses on the region where lanes are expected.

6. **[Hough transform for line detection](https://github.com/KafetzisThomas/tinyslam/blob/main/tests/hough_transform.py):** Detects lane lines in the ROI.

7. **[Haar cascade for vehicle detection](https://github.com/KafetzisThomas/tinyslam/blob/main/tests/haar_cascade.py):** Detects vehicles in the frame (gray frame).

## Demo Videos

### Lane Lines Detection

https://github.com/user-attachments/assets/5e9a44cc-22ae-49e9-bcfd-f71e85fad728

### Lane Lines + Vehicle Detection

https://github.com/user-attachments/assets/cd67fb2a-a3ce-4104-bac4-139f1e966fbf