##List of Known Dependencies ###ORB-SLAM Monocular 1.0.1

In this document we list all the pieces of code included by ORB-SLAM Monocular and linked libraries which are not property of the authors of ORB-SLAM Monocular.

#####Code in src and include folders

• ORBextractor.cc. This is a modified version of orb.cpp of OpenCV library. The original code is BSD licensed.

• PnPsolver.h, PnPsolver.cc. This is a modified version of the epnp.h and epnp.cc of Vincent Lepetit. This code can be found in popular BSD licensed computer vision libraries as OpenCV and OpenGV. The original code is FreeBSD.

• Function ORBmatcher::DescriptorDistance in ORBmatcher.cc. The code is from: http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel. The code is in the public domain.

#####Code in Thirdparty folder

• All code in DBoW2 folder. This is a modified version of DBoW2 and DLib library. All files included are BSD licensed.

• All code in g2o folder. This is a modified version of g2o. All files included are BSD licensed.

#####Library dependencies

• Boost. Boost Software License.

• OpenCV. BSD licensed.

• Eigen3. For versions greater than 3.1.1 is MPL2, earlier versions are LGPLv3.

• ROS. BSD licensed. In the manifest.xml the only declared package dependencies are roscpp, tf, sensor_msgs, opencv2, image_transport, cv_bridge, which are all BSD licensed.

Updated: 19/01/2016 Raúl Mur Artal