/Visual-Odometry

Repo for CSL7360 Computer Vision Course Major Project - Visual Odometry

Primary LanguageJupyter Notebook

CSL 7360 Computer Visison - Major Project

Viusal Odometry

Vision-based odometry allows a vehicle to localize itself robustly by using only a stream of images captured by a camera attached to the vehicle. Idea behind visual odometry is to track distinctive features in consecutive images and use the displacement of these features to calculate the camera or robot's motion relative to its surroundings.

Dataset

The dataset used is KITTI dataset. Dataset Link

How to run the code

Cloning the repo

cd <path to clone the repo>

git clone https://github.com/ayushabrol13/Visual-Odometry.git

Changing directory to the cloned repo

cd Visual-Odometry

Creating a virtual environment

pip install virtualenv

virtualenv venv

source venv/bin/activate

Installing dependencies

pip install -r requirements.txt

Downloading the kitti dataset

Dataset Link

Running the Monocular Visual Odometry

python3 monoVisualOdometry.py

Running the Feature Tracking

python3 featureTracking.py

Running the Stereo Visual Odometry

python3 stereoVisualOdometry.py

Complete Code

To run the complete code, run through the cells of ipynb notebook CV_VO.ipynb

Results

Output Drive

Monocular Visual Odometry

image

Feature Tracking

image

Stereo Visual Odometry

image

Collaborators

Devyani Gorkar B20ME027
Ayush Abrol B20AI052
Anjali Agarwal B20AI051
Aryan Tiwari B20AI056