Insights in SLAM algorithm modularity from RTAB-Map and ORB-SLAM2

In order to improve on the reusability of SLAM implementations, this thesis considers two open-source visual, feature-based, pose graph SLAM systems: RTAB-Map and ORB-SLAM2. Several aspects of these systems are investigated to define a baseline for the behaviour and concepts implemented by those SLAM implementations. The analysis uncovers details about the functionality that is contained within these systems, the type of information that is processed for these functions and architectural aspects of both implementations that affect reusability and modularity.