Essential-Matrix-Based-Visual-Odometry
During the early stages of my PhD, I had made this Visual Odometry (VO) soloution to convert my theorical understanding of the Essental matrix [1] into a publishable soloution. During this process I found this blog post extreamly helpful [2]. Although I naver used it the blog post comes with a C++ implementation [3].
This project is setup to run on the KITTI dataset [4] but may be calibarted to run on other datasets.
Refrances:
[1] https://www.robots.ox.ac.uk/~vgg/hzbook/hzbook2/HZepipolar.pdf
[2] http://avisingh599.github.io/vision/monocular-vo/