This implementation of Visual Odometry is meant to be modular enough to replace, add, and experiment with the different components of visual odometry.
Requirements
- OpenCV (I am using 4.2 but most versions should work)
- cmake
$ cd dean-vo
$ mkdir build
$ cd build
$ cmake ..
$ make
$ ./vo <argument>- How to move data and images through the VO pipeline
- Gstreamer, Pipes, Localhost
- Feature detection techniques
- Feature matching and tracking techniques
- Motion Estimation
- Constraining motion to 2D space
- Robust estimation (RANSAC)
- Error Propagation
- Camera-pose optimization (bundle adjustment)
- Loop Closure
- Scaramuzza Tutorial on Visual Odometry
- Vishal's Feature Extractor
- Stereo Image Lecture - stereo with calibrated cameras
- Essential and Fundamental Matrices - Penn State
- FINDING OPTIMAL ROTATION AND TRANSLATION BETWEEN CORRESPONDING 3D POINTS
- Introduction to Visual Odometry - Karel Zimmermann
- Two-View Geometry - George Mason University