Visual SLAM And Obstacle Avoidance For Quadruped

Introducing our recent project, Visual SLAM using RTABMAP. This project implemented visual SLAM on a quadruped with stereo hardware and in simulation with an RGBD sensor. Additionally, we calibrated stereo intrinsic and extrinsic parameters using Opencv, and are currently working on autonomous navigation of the quadruped using cameras and both ROS1 and ROS2. We also created a ROS2 driver with high throughput for the stereo camera hardware, which was connected to the Jetson Orin Nano.