mono_odo
Monocular Odometry
WORK IN PROGRESS
Monocular odometry pipeline based on 3d-2d correspondance, with bundle adjustement and loop closure. Implemented in C++ with OpenCV, g2o and DLoopDetector. Hopefully this system will be adapted to work on thermal cameras (mainly the FLIR Vue)
PRESENT GOAL
1/ Get reasonable odometry results from 3d-2d correspondances
2/ Benchmarking feature descriptors on thermal images
TODO
2/ Add bundle adjustement with g2o
3/ Add loop closure with DLoopDetector
4/ Adapt to thermal images