/OrcVIO-Stereo-Python

Python version of OrcVIO Stereo

Primary LanguagePythonMIT LicenseMIT

About

If you find this repo useful, kindly cite our publications

@article{orcvio,
  title={OrcVIO: Object residual constrained Visual-Inertial Odometry},
  author={M. {Shan} and V. {Dhiman} and Q. {Feng} and J. {Li} and N. {Atanasov}},
  url = {http://erl.ucsd.edu/pages/orcvio.html},
  pdf = {https://arxiv.org/abs/2007.15107},
  journal={IEEE Transactions on Robotics},
  volume={},
  number={},
  pages={},
  year={2021},
  publisher={IEEE}
}

Requerements

  • Python 3.6+
  • numpy
  • scipy
  • cv2
  • pangolin (optional, for trajectory/poses visualization)
  • sophuspy, check this for how to install

How to run

  • change the dataset path in vio.py and run python vio.py
  • to speed up, use load_features_flag to load saved features

Results

References