Vinohith/VO_pipeline

A simple Visual Odometry pipeline using monocular camera and bundle adjustment.

VO_pipeline

Requirements

• Create the environment from the environment.yml file:

conda env create -f environment.yml

• Additionally we will also require:
  • g2o for optimization
  • pangolin for visualization

Folder Structure

• Keypoint_Detection_and_Matching : This folder contains code for a simple harris corner detection and matching script from scratch.
• VO : This folder has the code for the visual odometry pipeline including g2o optimization.
• pangolin_example : This folder has the code for visualization of a trajectory using pangolin.