vslam_system contains classes and methods for visual odometry, visual SLAM, and place recognition for loop closure.
vslam::VslamSystem is a class that performs VSLAM and Place Recognition on stereo images.
vslam::VoSt does visual odometry and pose estimation on stereo images.
vslam::PlaceRecognizer keeps track of previous frames to use for recognizing previously seen locations for loop closure.
