Monocular visual odometry

Prerequisite

This repository's code is specifically tailored to work with the KITTI Visual Odometry Dataset. Users interested in utilizing or experimenting with this code will need to download KITTI Visual Odometry Dataset.

How to use

mkdir build && cd build
cmake ..
cmake --build .
./MonoVO <sequence> # 00 to 10

TODO

• : Calculate relative scale and update Coordinates
• : Refactoring

References

• Tutorial on Visual Odometry by D.Scaramuzza
• CSC2541 (2016), Patrick McGarey
• Visual Odometry Features, Tracking, Essential Matrix, and RANSAC, Stephan Weiss
• Avi Singh's blog