ECT_SLAM is a real-time SLAM framework for Monocular Visual Systems. It features initialization, feature-based visual odometry and local pose graph optimization. This code runs on Linux, and is fully integrated with ROS.

• ORB-SLAM: A Versatile and Accurate Monocular SLAM System, Mur-Artal, Raul, Jose Maria Martinez Montiel, Juan D. Tardos, IEEE Transactions on Robotics PDF

• VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator, Tong Qin, Peiliang Li, Zhenfei Yang, Shaojie Shen, IEEE Transactions on Robotics PDF

• 视觉 SLAM 十四讲: 从理论到实践， 高翔， 电子工业出版社， 2017