高博士的rgbd-slam，深入浅出，非常适合初学者-the code of rgbd-slam of doctor gao. it s understandable and good to learn for the slam beginners.

简单的RGBD-slam程序，包含特征点检测，特征描述，点云地图的生成等。(Simple RGBD-slam procedures, including feature point detection, feature descr iption, point cloud map generation.)