| vslam_system::AnyDetector | |
| vslam::PlaceRecognizer | Recognizes previously seen frames |
| StereoVslamNode | |
| VisBundler | |
| VONode | |
| vslam::voSt | Stereo visual odometry class. Keeps track of a certain size window of latest frames in the system, estimates pose changes between frames, and optimizes the window using SBA |
| vslam::VslamSystem | VSLAM class that performs visual odometry, loop closure through place recognition, and large-scale optimization using SBA |
| vslam::VslamSystemMono | VSLAM class that performs visual odometry, loop closure through place recognition, and large-scale optimization using SBA on monocular images |