NOTE: THIS CODE IS JUST AN EXPERIMENT, PLEASE DO NOT USE THIS CODE. ANY QUESTIONS REGARDING THIS CODE WILL NOT BE REPLIED.
This work provide a matlab implementation of rigig body motion estimation of aan RGB-D camera from consecutive frames.
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core
Core implementation of the camera motion estimation algorithm.
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weight determination
Some useful functions for new weight determination method.
Few of the functions of this work (e.g. the conversion between )are based on Machine Vision Toolbox (see http://www.petercorke.com/Machine_Vision_Toolbox.html), it is not troublesome for you to install it.
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Down load a RGB-D iamge data set.
See https://vision.in.tum.de/data/datasets/rgbd-dataset/download. You can choose one of the set to run the algorithm.
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Run the algorithm.
Execute the main.m to run the algorithm.
Note: Change the input directory to where you save input file.