对于视觉SLAM来说，目前主流的开源框架使用较贫的莫过于ORB-SLAM
接下来就从零开始搭建开发环境，在UBUNTU上运行ORB-SLAM需要一些支持包：
1、git
sudo apt-get install git
2、cmake
sudo apt-get install cmake
3、Pangolin
sudo apt-get install libglew-dev libpython2.7-dev git clone https://github.com/stevenlovegrove/Pangolin.git cd Pangolin mkdir build cmake .. make sudo make install
4、Opencv 2.4.11
sudo apt-get install build-essential apt-get install cmake git libgtk2.0-dev pkg-config lib sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev cd opencv-2.4.11 mkdir build cd build sudo cmake .. -D CMAKE_BUILD_TYPE=Release -DCUDA_nppi_LIBRARY=true =DWITH_CUDA=OFF -DBUILD_TIFF=ON make sudo make install
linux/videodev.h : no such file or directory
sudo apt-get install libv4l-dev
sudo ln -s /usr/include/libv4l1-videodev.h /usr/include/linux/videodev.h
5、Eigen3
sudo apt-get install libeigen3-dev
6、DBoW2
7、g2o
8、ORB_SLAM
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh
原文：https://www.cnblogs.com/jimchen1218/p/12556182.html