What does this repo include:
- Feature Matching: Using SIFT, SURF, ORB to detect features and bfMatcher, FLANN matcher to match these features in subsequent frames.
- Epipolar Geometry: Understanding the 5 point and 8 point algorithms and how can we recover the information we need.
- Recovering Fundamental and Essential matrix: When and where both are needed and for what tasks.
- Visual Odometry: Relative camera motion in a video sequence.
- Structure from Motion: Given multi-view photographs, how to create the 3D structure.
- Mapping: How to get locally consistent maps.
- Localization: Given a map, how to localise in that coordinate frame.
- SLAM: Doing Localization and Mapping iteratively.
- Basic repo using pypoetry
- Understanding Feature Matching
- Basics of Epipolar geometry
- Using camera intrinsics and determining Essential matrix
- Visual Odometry (basic)
- Visual Odemetry with bundle adjustment
- Monocular SFM (basic)
- SFM with depth maps (advanced)
- Mapping
- SLAM (basic)
- SLAM + notes on loop closure
You should have python installed on your machine.
- Install pypoetry
$ pip install poetry
- Navigate to the root folder of this repo.
$ poetry shell
$ poetry install
- Run the individual code
$ python 3dcv/feature_matching.py